checkCollision
Check if two geometries are in collision
Syntax
Description
returns the collision status between the two convex geometries collisionStatus
= checkCollision(geom1
,geom2
)geom1
and geom2
. If the two geometries are in collision at their specified
poses, checkCollision
is equal to 1
. If no collision
is found, collisionStatus
is equal to 0
.
[
also
returns the minimal distance and witness points of each geometry,
collisionStatus
,sepdist
,witnesspts
] = checkCollision(geom1
,geom2
)sepdist
and witnesspts
, respectively, when no
collision is found between the two geometries.
Examples
Input Arguments
Output Arguments
Limitations
Collision checking results are no longer reliable when the minimal distance falls below 10-5 m.
References
[1] E. G. Gilbert, D. W. Johnson, and S. S. Keerthi. A fast procedure for computing the distance between complex objects in three-dimensional space. in IEEE Journal on Robotics and Automation, vol. 4, no. 2, pp. 193-203, April 1988, doi: 10.1109/56.2083.
Extended Capabilities
Version History
See Also
collisionBox
| collisionCylinder
| collisionMesh
| collisionSphere