Continuous Collision Detection Library

[dalibor]

I need Continuous Collision Detection Library that is Free for Commercial Use

I know that it’s quite difficult find one and I’m not even sure there’s any, but I hope the world is big enough to contain some Commercial Free Continuous Collision Detection Library. At least it would be nice to write here a list of possibilities how to build one. And what is the fastest way to get it or create it.

When I found something useful or interesting I write it here.

Best regards all readers,
Dalibor

[Erwin Coumans]

Bullet contains a continuous collision detection library, you can use it without the rigid body/soft body dynamics.

[dalibor]

Thanks for advice Erwin.

I would like to use Bullet Collision Library, but I need fast CCD, which dynamically adjusts the required resolution. The performance is important for me, because I want to use it for simulation of robotic arm. If I understood well the CCD in Bullet Engine works just for checking between steps with constant delta time (resolution). And it must be set by something like that for selected rigid bodies:

Code: Select all

#define CUBE_HALF_EXTENTS 0.5
btRigidBody* body = ....;
body->setCcdMotionThreshold(CUBE_HALF_EXTENTS);
body->setCcdSweptSphereRadius(0.9*CUBE_HALF_EXTENTS); 

I would like to know how should be CCD used just in Bullet Collision library without the rigid body/soft body dynamics.

I found out quite interesting CCD library under BSD license: FCL - Fast Collision Library (Flexible Collision Library), url: http://www.ros.org/wiki/fcl. So I'm investigating it now.

Best regards,
Dalibor