Fast Collision Detection

Identifies first collision between two objects defined by a collection of triangles

This function wraps some of the functionality found in the V-Collide library developed at the University of North Carolina.

T = COLDETECT(TRI1, TRI2, TRANS1, TRANS2) returns the index of the first transformation that involves a collision between two objects. The two objects are defined by the triangles specified in TRI1 and TRI2. The matrices TRI1 and TRI2 have nine columns, defining the vertices of the triangles (x1, y1, z1, x2, y2, z2, x3, y3, z3). The matrices TRANS1 and TRANS2 define the transformations of objects. They both have twelve columns and have the same number of rows. Each row (e1, ..., e12) defines a single transformation matrix:

[ e4 e5 e6 e1]
[ e7 e8 e9 e2]
[e10 e11 e12 e3]
[ 0 0 0 1]

The V-Collide library is copyright (c) University of North Carolina. This library is only freely available for NON-commercial applications.

See the included README.txt file for further details.