112 lines
3.7 KiB
Text
112 lines
3.7 KiB
Text
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FreeSOLID - Interference Detection Library
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Copyright (C) 1997, 1998 Gino van den Bergen
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NOTE: FreeSOLID is the LGPL version of SOLID. SOLID is further
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developed and licensed commercially by Dtecta. See
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www.libsolid.com for terms of licensing SOLID.
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Introduction
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FreeSOLID is a library for collision detection of three-dimensional objects
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undergoing rigid motion and deformation. FreeSOLID is designed to be used in
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interactive 3D graphics applications, and is especially suited for
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collision detection of objects and worlds described in VRML.
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The objects can be modeled as primitives, such as boxes, cones, cylinders,
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and spheres, or as complex shapes composed of polytopes. The placement of
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an object is given either as a sequence of translations, rotations, and
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nonuniform scalings, or as a 4x4 column-major matrix, that represents an
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affine transformation, as used in OpenGL.
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Requirements
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The library is written in ANSI/ISO C++ and relies heavily on STL. Currently
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it compiles under GNU g++ version 2.8.1 and Visual C++ 5.0. The library has
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a standard C API and can be linked to both C and C++ applications. Note
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that in order to use in C applications, you need to explicitly include the
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libstdc++ library in the linkage.
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For fast intersection tests and distance computations between convex
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polyhedra, FreeSOLID relies on the Qhull library for convex hull computations.
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Qhull is a free software library and is available for most platforms.
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The Qhull source code can be downloaded from URL:
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http://www.geom.umn.edu/software/qhull/
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Note that a properly operating FreeSOLID library can be compiled without using
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Qhull. However, it is recommended to incorporate Qhull for a better
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performance, when polyhedra are used.
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License
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The FreeSOLID library and accompanying C++ classes for 3D geometry are
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released under the terms of the GNU Library General Public License.
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See the file COPYING.LIB for details.
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Installation
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In case you have a recent GNU developers environment installed, simply
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typing `make' in the root of the distribution directory will build the
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library, a sample client and documentation.
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If you want to use another compiler, you should make the necessary changes
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to the `Make-config' file in the root directory. FreeSolid now autodetects
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the presence of Qhull library when you build using the configure script.
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The Qhull header files are assumed to be under '$INCLUDE_PATH/qhull/'
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If your Qhull installation is under a non-standard directory. Then you need
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to put all the Qhull header files under a directory named 'qhull'. Then
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you may need to set the env variables CXXFLAGS, CPPFLAGS to point to those
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directories. Under bash if qhull is under the directory $HOME/packages, you type
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$ export CPPFLAGS="-I$HOME/packages"
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$ export CXXFLAGS="-I$HOME/packages"
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under csh you type
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% setenv CPPFLAGS "-I$HOME/packages"
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% setenv CXXFLAGS "-I$HOME/packages"
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before doing a ./configure .
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The auxiliary C++ classes in `include/3D' may be used for performing 3D
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transformations. The classes have all their code inlined, so you do not
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need to link a library in order to use them.
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If you've checked out a fresh CVS sandbox, the following steps are
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required to generate a proper 'configure' file.
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aclocal
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automake -a
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autoconf
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autoheader
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Documentation
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The FreeSOLID manual is available as: (i) an Emacs info file, (ii) a DVI file
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(use dvips to print as postscript), and (iii) a set of HTML files.
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The HTML files are also made available on the FreeSOLID web page located at
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http://www.win.tue.nl/~gino/solid/
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Contact Info
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Please send remarks, questions and bug reports to gino@dtecta.com
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or write to:
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Gino van den Bergen
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Sterkenstraatje 4
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5708 ZC Helmond
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The Netherlands
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