Download SmartCollision™ SDK

Contens
1. INTRODUCTION ...................................................................................................... 1-1
2. FEATURES OF SMARTCOLLISION ....................................................................... 2-1
3. GETTING STARTED ................................................................................................ 3-1
3.1 SYSTEM REQUIREMENTS ..........................................................................................3-1
3.2 INSTALLATION ..........................................................................................................3-1
3.3 LICENSE ACTIVATION ...............................................................................................3-2
3.4 FILES OF SDK ..........................................................................................................3-2
3.4.1 Windows version...............................................................................................3-2
3.4.2 Linux version....................................................................................................3-3
4. CLASS INTERFACE ................................................................................................. 4-1
5. BASIC THEORY........................................................................................................ 5-1
5.1 GEOMETRIC DEFINITION OF PENETRATION DEPTH ...................................................5-1
5.2 DEFINITION OF PENETRATION DEPTH BY CSO .........................................................5-2
5.3 THE LOCAL MINIMUM PENETRATION DEPTH VECTORS..............................................5-5
5.4 DYNAMIC PENETRATION DEPTH VECTOR ..................................................................5-6
5.5 PARTIAL PENETRATION DEPTH AND TOTAL PENETRATION DEPTH .............................5-8
5.6 MULTIPLE CONTACTS ...............................................................................................5-9
5.7 GENERALIZATION OF PENETRATION DEPTH ............................................................5-10
5.8 ARBITRARINESS ABOUT TPDV AND RPDV .............................................................5-12
5.9 MEASUREMENT OF OBJECT PENETRATION ............................................................. 5-13
5.10 BI-DIRECTIONAL PENETRATION DEPTH COMPUTATION ............................................5-14
6. INPUT GEOMETRY ................................................................................................. 6-1
6.1 TRIANGLE SOUP........................................................................................................6-2
6.2 CLOSED POLYHEDRA.................................................................................................6-3
6.3 CONVEX SURFACE DECOMPOSITION..........................................................................6-9
6.4 FORMAT OF INPUT GEOMETRY ................................................................................ 6-11
6.5 HOW TO GIVE GEOMETRY DATA TO SCOBJECT........................................................6-12
6.6 INTERNAL DATA STRUCTURE...................................................................................6-15
7. COORDINATE SYSTEMS AND TRANSFORMATION ........................................... 7-1
8. COLLISION DETECTION........................................................................................ 8-1
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