Fork of openGJK with minor fixes https://github.com/MattiaMontanari/openGJK/pull/42

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README.md

OpenGJK

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.

Getting started

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.

Use OpenGJK in your project

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!

Contribute

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.