libccd

libccd is library for a collision detection between two convex shapes. libccd implements variation on Gilbert–Johnson–Keerthi algorithm plus Expand Polytope Algorithm (EPA) and also implements algorithm Minkowski Portal Refinement (MPR, a.k.a. XenoCollide) as described in Game Programming Gems 7.

libccd is the only available open source library of my knowledge that include MPR algorithm working in 3-D space. However, there is a library called mpr2d, implemented in D programming language, that works in 2-D space.

libccd is currently part of:

1. ODE library (see ODE’s ./configure –help how to enable it),
2. FCL library from Willow Garage,
3. Bullet3 library (https://github.com/bulletphysics/bullet3).

For implementation details on GJK algorithm, see http://www.win.tue.nl/~gino/solid/jgt98convex.pdf.

Dependencies

This library is currently based only on standard libraries. The only exception are testsuites that are built on top of CU (https://github.com/danfis/cu) library licensed under LGPL, however only testing depends on it and libccd library itself can be distributed without it.

License

libccd is licensed under OSI-approved 3-clause BSD License, text of license is distributed along with source code in BSD-LICENSE file. Each file should include license notice, the rest should be considered as licensed under 3-clause BSD License.

Compile And Install

libccd contains several mechanisms for compiling and installing. Using a simple Makefile, using autotools, and using CMake.

1. Using Makefile

Directory src/ contains Makefile that should contain everything needed for compilation and installation:

  $ cd src/
  $ make
  $ make install

Library libccd is by default compiled in double precision of floating point numbers - you can change this by options USE_SINGLE/USE_DOUBLE, i.e.:

  $ make USE_SINGLE=yes

will compile library in single precision.

Installation directory can be changed by options PREFIX, INCLUDEDIR and LIBDIR. For more info type ‘make help’.

2. Using Autotools

libccd also contains support for autotools: Generate configure script etc.:

  $ ./bootstrap

Create new build/ directory:

  $ mkdir build && cd build

Run configure script:

  $ ../configure

Run make and make install:

  $ make && make install

configure script can change the way libccd is compiled and installed, most significant option is –enable-double-precision which enables double precision (single is default in this case).

3. Using CMake

To build using make:

  $ mkdir build && cd build
  $ cmake -G "Unix Makefiles" ..
  $ make && make install

To build using ninja:

  $ mkdir build && cd build
  $ cmake -G Ninja ..
  $ ninja && ninja install

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