Fcl

Flexible Collision Library

FCL is a library for performing three types of proximity queries on a pair of geometric models composed of triangles.

It performs

• Collision detection detecting whether the two models overlap, and optionally, all of the triangles that overlap.
• Distance computation computing the minimum distance between a pair of models, i.e., the distance between the closest pair of points.
• Tolerance verification determining whether two models are closer or farther than a tolerance distance.
• Continuous collision detection detecting whether the two moving models overlap during the movement, and optionally, the time of contact.
• Contact information for collision detection and continuous collision detection, the contact information including contact normals and contact points can be returned optionally.