SWIFT - Speedy Walking via Improved Feature Testing


SWIFT is a library for collision detection, distance computation, and contact determination of three-dimensional polygonal objects undergoing rigid motion (rotation and translation). SWIFT has been implemented carefully in C++ in order to be as fast and memory efficient as possible. It features improvements over previous algorithms and implementations. Provided is a simple yet powerful API. In addition, SWIFT is a test bed for active research in collision detection, so enhancements are likely in the future.

SWIFT can handle geometric models that are:

SWIFT can perform four types of proximity queries:

SWIFT has other key features:

More Information

Author: Stephen Ehmann

Maintained by: ehmann@cs.unc.edu

Copyright 2000

Last Modification: Aug 15, 2001

Accesses since Oct 2000