Yaobi Yaobi - Small collision detection library for arbitrary meshes
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detect collision detection detection collision obb-tree implementation OBB-tree representation

Yaobi Description

Yaobi - Small collision detection library for arbitrary meshes Yaobi (Yet Another OBB-Tree Implementation) is a fast collision detection library for general triangulated objects. It uses a hierarchical representation based on oriented bounding boxes. Yaobi compares well with other libraries when it comes to speed and memory consumption.Like PQP, Yaobi uses an OBB-tree to model objects. PQP takes this representation to its limit, surrounding each triangle with a single leaf-OBB. Yaobi instead uses the hybrid approach of Opcode, where leaf-nodes surround two triangles each (TriNodes). The hybrid approach not only saves a lot of memory, it also makes collision queries run faster. Benchmarks show that Yaobi is between 2.5 to 3 times faster than PQP. For near convex objects, Opcode is slightly faster, but for small and curved objects inside larger ones, Yaobi will get the upper hand.Here are some key features of "Yaobi":· Written in C++ and compiles with both MSVC and gcc· Users can choose between double or single precision· Works with arbitrary meshes (triangles)· Supports "first contact" and "all contacts" queries· Hybrid OBB-tree representation, reducing the memory footprint about 60 bytes per triangle (using float) compared to PQP· Easy to share mesh data between application and Yaobi· Lazy evaluation techniques to avoid unnecessary computations· Very fast collision queries for a wide range of geometriesNOTE: Yaobi is licensed and provided under the MIT License.

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