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erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.
Apache License 2.0
1.2k stars 129 forks source link

Capsule capsule collision #202

Open jotix16 opened 2 years ago

jotix16 commented 2 years ago

Computes collision by first getting the closest points between segments.

There is only one branch, for the case where capsules are parallel(occur almost never).