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