├── .coveragerc ├── .github └── workflows │ └── ci.yml ├── .gitignore ├── CITATION.cff ├── LICENSE ├── README.md ├── benchmarks ├── benchmark_aabb_tree_creation.py ├── benchmark_barycentric_coordinates_tetrahedron.py ├── benchmark_broad_phase.py ├── benchmark_containment_capsule_aabb.py ├── benchmark_containment_cylinder_aabb.py ├── benchmark_distance_point_to_triangle.py ├── benchmark_distance_triangle_to_rectangle.py ├── benchmark_distance_triangle_to_triangle.py ├── benchmark_gjk.py ├── benchmark_mesh_support_function.py ├── benchmark_plot_robot_aabb_tree.py ├── benchmark_pybullet.py ├── benchmark_vis_robot_arm.py ├── compare_gjk_implementations.py ├── compare_gjk_iterations.py └── vis_gjk_mismatch.py ├── bin └── compute_potentials.py ├── distance3d ├── __init__.py ├── aabb_tree.py ├── benchmark.py ├── broad_phase.py ├── colliders.py ├── containment.py ├── containment_test.py ├── distance │ ├── __init__.py │ ├── _box.py │ ├── _circle.py │ ├── _cylinder.py │ ├── _disk.py │ ├── _ellipsoid.py │ ├── _line.py │ ├── _line_to_box.py │ ├── _plane.py │ ├── _rectangle.py │ └── _triangle.py ├── epa.py ├── geometry.py ├── gjk │ ├── __init__.py │ ├── _gjk_jolt.py │ ├── _gjk_libccd.py │ ├── _gjk_nesterov_accelerated.py │ ├── _gjk_nesterov_accelerated_primitives.py │ └── _gjk_original.py ├── hydroelastic_contact │ ├── __init__.py │ ├── _barycentric_transform.py │ ├── _broad_phase.py │ ├── _contact_surface.py │ ├── _forces.py │ ├── _halfplanes.py │ ├── _interface.py │ ├── _mesh_processing.py │ ├── _rigid_body.py │ ├── _tetra_mesh_creation.py │ └── _tetrahedron_intersection.py ├── io.py ├── mesh.py ├── minkowski.py ├── mpr.py ├── plotting.py ├── random.py ├── self_collision.py ├── test │ ├── test_aabb_tree.py │ ├── test_benchmark.py │ ├── test_broad_phase.py │ ├── test_colliders.py │ ├── test_containment.py │ ├── test_containment_test.py │ ├── test_cube_unique_pairs_edge_case.py │ ├── test_distance.py │ ├── test_epa.py │ ├── test_geometry.py │ ├── test_gjk.py │ ├── test_gjk_jolt.py │ ├── test_gjk_libccd.py │ ├── test_gjk_nesterov.py │ ├── test_gjk_original.py │ ├── test_hydroelastic_contact.py │ ├── test_io.py │ ├── test_mesh.py │ ├── test_minkowski.py │ ├── test_mpr.py │ ├── test_random.py │ ├── test_self_collision.py │ ├── test_urdf_utils.py │ ├── test_utils.py │ └── test_visualization.py ├── urdf_utils.py ├── utils.py └── visualization.py ├── doc ├── Makefile ├── make.bat └── source │ ├── _static │ ├── capsule_collisions.png │ ├── closest_points.png │ ├── hydroelastic_contact_surface.png │ └── robot_collision_detection.png │ ├── api.rst │ ├── conf.py │ └── index.rst ├── examples ├── README.rst ├── aabbtree │ ├── README.rst │ ├── plot_aabbtree.py │ └── plot_robot.py ├── containment_test │ ├── README.rst │ ├── plot_box.py │ ├── plot_capsule.py │ ├── plot_cone.py │ ├── plot_cylinder.py │ ├── plot_ellipsoid.py │ ├── plot_mesh.py │ └── plot_sphere.py ├── distance │ ├── README.rst │ ├── plot_disk_to_disk.py │ ├── plot_line_segment_to_box.py │ ├── plot_line_segment_to_circle.py │ ├── plot_line_segment_to_line_segment.py │ ├── plot_line_segment_to_plane.py │ ├── plot_line_segment_to_rectangle.py │ ├── plot_line_segment_to_triangle.py │ ├── plot_line_to_box.py │ ├── plot_line_to_circle.py │ ├── plot_line_to_line.py │ ├── plot_line_to_line_segment.py │ ├── plot_line_to_plane.py │ ├── plot_line_to_rectangle.py │ ├── plot_line_to_triangle.py │ ├── plot_plane_to_box.py │ ├── plot_plane_to_cylinder.py │ ├── plot_plane_to_ellipsoid.py │ ├── plot_plane_to_plane.py │ ├── plot_plane_to_rectangle.py │ ├── plot_plane_to_triangle.py │ ├── plot_point_to_box.py │ ├── plot_point_to_circle.py │ ├── plot_point_to_cylinder.py │ ├── plot_point_to_disk.py │ ├── plot_point_to_ellipsoid.py │ ├── plot_point_to_line.py │ ├── plot_point_to_line_segment.py │ ├── plot_point_to_plane.py │ ├── plot_point_to_rectangle.py │ ├── plot_point_to_triangle.py │ ├── plot_rectangle_to_box.py │ ├── plot_rectangle_to_rectangle.py │ ├── plot_triangle_to_rectangle.py │ └── plot_triangle_to_triangle.py ├── gjk │ ├── README.rst │ ├── plot_box.py │ ├── plot_capsules.py │ ├── plot_collision_resolution_epa.py │ ├── plot_convex_mesh.py │ ├── plot_cylinder.py │ ├── plot_ellipse.py │ ├── plot_ellipsoids.py │ ├── plot_minkowski_samples.py │ └── plot_spheres.py ├── plane │ ├── README.rst │ └── plot_halfplane_intersection.py └── visualizations │ ├── README.rst │ ├── vis_boxes_benchmark.py │ ├── vis_capsules_benchmark.py │ ├── vis_closest_points.py │ ├── vis_collision_physics.py │ ├── vis_cone_benchmark.py │ ├── vis_cylinders_benchmark.py │ ├── vis_disk_benchmark.py │ ├── vis_ellipse_benchmark.py │ ├── vis_ellipsoids_benchmark.py │ ├── vis_mesh_benchmark.py │ ├── vis_pressure_field.py │ ├── vis_pressure_field_collision.py │ ├── vis_pressure_field_collision_multiple_objects.py │ ├── vis_pressure_field_moving.py │ ├── vis_robot_collision_objects.py │ ├── vis_self_collisions.py │ ├── vis_tetrahedral_hand.py │ ├── vis_tetrahedral_hand_collision.py │ ├── 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