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README.md

Getting started

On Linux, Mac or Windows, if you have a basic C/C++ toolchain installed (git, compiler and cmake) clone this repo:

git clone https://github.com/MattiaMontanari/openGJK.git

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

If you get no errors, the successfull output is:

Distance between bodies 3.653650.

However, if you do get an error - any error - please file a bug! Support requests are welcome too.

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 and Unity.

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 usefule
  • 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.