Geometric calculations

CoppeliaSim handles major geometric calculations via the Coppelia Geometric Routines, which is a collection of c++ functions that can be embedded into stand-alone applications. Those routines are wrapped inside of the geometric plugin for CoppeliaSim, which is in charge of handling:

  • collision detection
  • distance calculation
  • proximity sensor simulation
  • Above functionality can directly operate on dummies, shapes, OC trees or point clouds.

    CoppeliaSim also offers boolean operations on shapes, via libigl, the simple C++ geometry processing library, wrapped in the IGL plugin. See also the API functions related to that plugin.