PQP - A Proximity Query Package

Collision Detection Distance Computation Tolerance Vertification

The first picture shows in red the overlapping triangles of two intersecting tori. The middle picture shows a line connecting the closest points of a bunny and torus model. The last picture shows three steps of a collision free path - the path was computed by a path-planner using tolerance verification.


PQP is a library for performing three types of proximity queries on a pair of geometric models composed of triangles:

Copyright 1999. Last modification on June 29, 1999.

Maintained by: geom@cs.unc.edu

Geometric Algorithms for Modeling, Motion, and Animation