PQP was adapted from RAPID 2, and the API should be familiar to RAPID 2 users.
In addition, collision detection techniques have been borrowed from RAPID 2, including the tree building strategies and the use of oriented bounding boxes (OBBs). However, this package uses a different bounding volume type, the rectangle swept sphere (RSS), for distance and tolerance queries.
As with RAPID 2, the models used with PQP do not need to contain adjacency information, or obey topological constraints. The models may contain cracks, holes, self-intersections, and non-generic (e.g. coplanar and collinear) configurations.
Copyright 1999. Last modification on June 29, 1999.
Maintained by: geom@cs.unc.edu