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Evaluate GJK vs MPR for collision detection #3

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yuvaltassa opened this issue Oct 18, 2021 · 1 comment
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Evaluate GJK vs MPR for collision detection #3

yuvaltassa opened this issue Oct 18, 2021 · 1 comment
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enhancement New feature or request

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@yuvaltassa
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MuJoCo uses libCCD for collision detection, but currently only uses the MPR algorithm, while libCCD also contains and implementation for GJK. It would be interesting to compare these two.
@yuvaltassa yuvaltassa added the enhancement New feature or request label Oct 18, 2021
@jheyeo222 jheyeo222 mentioned this issue Jul 5, 2023
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@songdaegeun songdaegeun mentioned this issue May 1, 2024
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@PeterOGB PeterOGB mentioned this issue Oct 3, 2024
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@kbayes
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kbayes commented Oct 24, 2024

MuJoCo now supports GJK directly through nativeccd. We tried GJK from libccd in the past, but had poor results.

@kbayes kbayes closed this as completed Oct 24, 2024
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