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libccd is library for a collision detection between two convex shapes.
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libccd implements variation on Gilbert–Johnson–Keerthi algorithm plus Expand
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Polytope Algorithm (EPA) and also implements algorithm Minkowski Portal
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Refinement (MPR, a.k.a. XenoCollide) as described in Game Programming Gems 7.
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For more info see home of libccd: http://libccd.danfis.cz.
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For implementation details on GJK algorithm, see
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http://www.win.tue.nl/~gino/solid/jgt98convex.pdf.
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This library is currently based only on standard libraries.
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The only exception are testsuites that are built on top of CU
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(cu.danfis.cz) library licensed under LGPL, however only testing depends on
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it and libccd library itself can be distributed without it.
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libccd is licensed under OSI-approved 3-clause BSD License, text of license
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is distributed along with source code in BSD-LICENSE file.
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Each file should include license notice, the rest should be considered as
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licensed under 3-clause BSD License.
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Simply type 'make' and 'make install' in src/ directory.
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Library libccd is by default compiled in double precision of floating point
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numbers - you can controll this by options USE_SINGLE/USE_DOUBLE, i.e.:
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will compile library in single precision.
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Installation directory can be changed by options PREFIX, INCLUDEDIR and
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For more info type 'make help'.
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Compile And Install Using Autotools
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libccd also contains support for autotools:
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1) Generate configure script etc.: $ ./bootstrap
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2) Create new build/ directory: $ mkdir build && cd build
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3) Run configure script: $ ../configure
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4) Run make and make install: $ make && make install
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configure script can change the way libccd is compiled and installed, most
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significant option is --enable-double-precision which enables double
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precision (single is default in this case).
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See ccd.h for public API.
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In your application include <ccd/ccd.h>, setup ccd_t structure and run some
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of functions (all functions are reentrant). Then link with libccd.a.
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- contains source files of libccd.
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- testsuites - libccd must be compiled before compiling this.
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- CU unit testing framework
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src/testsuites/regressions
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- files ready for regression tests
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README
