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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.
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