Kineo Collision Detector (KCD)

Perform a wide range of collision and clearance analysis, including:

• Fast Boolean test: quickly determine if any objects are colliding in the scene
• Exhaustive Boolean test: identify specific colliding pairs of objects in the scene
• Flat Boolean test: determine the set of all colliding objects in the scene
• Shortest distance between objects that are not colliding (clearance)
• Estimated penetration distance for colliding objects

Kineo Collision Detector supports the following geometry types:

Mesh data: analyse any triangular mesh. The triangles do not require orientation - their normal vectors can point to either side. Holes and disconnected triangles are not an issue.

Point cloud data: Perform collision checks and distance measurements directly on data from laser scans and vision systems without the need to reconstruct polyhedrons. Query collision detection and proximities between two point clouds or between a point cloud and a polyhedron.

Symmetric multiprocessing: Kineo Collision Detector is optimized for parallel processing. A stateless, thread-safe mode enables you to run different tests over the same scene in simultaneous threads.

Low-memory consumption: scene objects point to triangle mesh data located in user memory space to eliminate the need for duplicating data as Kineo Collision Detector objects. Deferred initialization options further reduce memory usage.