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kevin-tracy authored Oct 11, 2022
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<p align="center">
<img width="320" src="https://github.com/kevin-tracy/DCOL.jl/blob/master/extras/images/DCOL_logo.png">
<img width="600" src="https://github.com/kevin-tracy/DCOL.jl/blob/master/extras/images/DCOL_logo.png">
</p>


A library for differential collision detection, as implemented from [Differentiable Collision Detection for a Set of Convex Primitives](https://arxiv.org/abs/2207.00669). DCOL computes collision information between the following convex primitives:
A library for differential collision detection, as implemented from [Differentiable Collision Detection for a Set of Convex Primitives](https://arxiv.org/abs/2207.00669). The core algorithmn, DCOL, computes collision information between the following convex primitives:
- polytopes
- capsules
- cylinders
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#### Primitives
Each primitive is implemented as a struct in DCOL. The defining dimensions for each primitive is described in the [paper](https://arxiv.org/abs/2207.00669), and the primitives can be constructed as the following:
```julia
import DCOL as dc
import DifferentiableCollisions as dc

polytope = dc.Polytope(A, b) # polytope is described by Ax <= b
capsule = dc.Capsule(R, L) # radius R, length L
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Registration pull request created: JuliaRegistries/General/69949

After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.

This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:

git tag -a v0.1.3 -m "<description of version>" 64eb49e8b8112abbfac151027aef1bc6c312d7de
git push origin v0.1.3

Also, note the warning: This looks like a new registration that registers version 0.1.3.
Ideally, you should register an initial release with 0.0.1, 0.1.0 or 1.0.0 version numbers
This can be safely ignored. However, if you want to fix this you can do so. Call register() again after making the fix. This will update the Pull request.

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