A fast and robust C implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm with interfaces for C#, Go, Matlab and Python. A Unity Plug-in is also available in another repository.
Useful links: API references, documentation and automated benchmarks.
On Linux, Mac or Windows, install a basic C/C toolchain - for example: git, compiler and cmake.
Next, clone this repo:
git clone https://github.com/MattiaMontanari/openGJK
Then use these commands to build and run an example:
cmake -E make_directory build
cmake -E chdir build cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build build
cmake -E chdir build/examples/c ./example_lib_opengjk_ce
The successful output should be:
Distance between bodies 3.653650
However, if you do get an error - any error - please file a bug. Support requests are welcome.
The best source to learn how to use OpenGJK are the examples. They are listed here for C, C#, Go, Matlab and Python. I aim to publish few more for Julia.
Take a look at the examples
folder in this repo and have fun. File a request if you wish to see more!
You are very welcome to:
- Create pull requests of any kind
- Let me know if you are using this library and find it useful
- Open issues with request for support because they will help you and many others
- Cite this repository (a sweet GitHub feature) or my paper: Montanari, M. et at, Improving the GJK Algorithm for Faster and More Reliable Distance Queries Between Convex Objects (2017). ACM Trans. Graph.