https://github.com/mattiamontanari/opengjk
Fast and reliable implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm for C, C++, C#, Go, Matlab, Octave, Python and Zig
https://github.com/mattiamontanari/opengjk
algorithm c collision convex-polytopes cython gilbert-johnson-keerthi gjk golang octave python python-ctypes unity3d zip
Last synced: 2 months ago
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Fast and reliable implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm for C, C++, C#, Go, Matlab, Octave, Python and Zig
- Host: GitHub
- URL: https://github.com/mattiamontanari/opengjk
- Owner: MattiaMontanari
- License: gpl-3.0
- Created: 2018-09-01T07:56:17.000Z (almost 7 years ago)
- Default Branch: master
- Last Pushed: 2025-02-16T21:21:00.000Z (4 months ago)
- Last Synced: 2025-04-05T02:04:12.588Z (2 months ago)
- Topics: algorithm, c, collision, convex-polytopes, cython, gilbert-johnson-keerthi, gjk, golang, octave, python, python-ctypes, unity3d, zip
- Language: C
- Homepage: https://www.mattiamontanari.com/opengjk/
- Size: 500 KB
- Stars: 157
- Watchers: 5
- Forks: 39
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
[](https://github.com/MattiaMontanari/openGJK/actions/workflows/github-opengjk-examples.yml)
# OpenGJK
A fast and robust C implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm with interfaces for C#, Go, Matlab and Python. A Unity Plug-in [is also available in another repository](https://github.com/MattiaMontanari/urban-couscous).
Useful links: [API references](https://www.mattiamontanari.com/opengjk/docsapi/), [documentation](https://www.mattiamontanari.com/opengjk/docs/) and [automated benchmarks](https://www.mattiamontanari.com/opengjk/docs/benchmarks/).
## Getting started
On Linux, Mac or Windows, install a basic C/C++ toolchain - for example: git, compiler and cmake.
Next, clone this repo:
``` bash
git clone https://github.com/MattiaMontanari/openGJK
```
Then use these commands to build and run an example:
``` bash
cmake -E make_directory build
cmake -E chdir build cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build build
cmake -E chdir build/examples/c ./example_lib_opengjk_ce
```
The successful output should be:
>
> `Distance between bodies 3.653650`
>
However, if you do get an error - any error - please file a bug. Support requests are welcome.
## Use OpenGJK in your project
The best source to learn how to use OpenGJK are the examples. They are listed [here](https://www.mattiamontanari.com/opengjk/docs/examples/) for C, C#, Go, Matlab, ZIg and Python. I aim to publish few more for Julia.
Take a look at the `examples` folder in this repo and have fun. File a request if you wish to see more!
## Contribute
You are very welcome to:
- Create pull requests of any kind
- Let me know if you are using this library and find it useful
- Open issues with request for support because they will help you and many others
- Cite this repository ([a sweet GitHub feature](https://docs.github.com/en/repositories/managing-your-repositorys-settings-and-features/customizing-your-repository/about-citation-files#about-citation-files)) or my paper: Montanari, M. et at, *Improving the GJK Algorithm for Faster and More Reliable Distance Queries Between Convex Objects* (2017). ACM Trans. Graph.