RTCollisionDetection

This package implements Mesh-to-mesh and Mesh-to-robot-sphere-swept-volume collision detection alogrithm with NVIDIA OptiX.

TODO:

• Upload the source code.

Citing

This repository was developed at the Human Centered Robotics Lab (HCRL) of The University of Texas at Austin by Sizhe Sui, advised by Dr. Luis Sentis and Dr. Andrew Bylard.

If you found this repository useful, please cite our paper!

• [1] Conference Paper: S Sui, L Sentis, and A Bylard, Hardware-Accelerated Ray Tracing for Discrete and Continuous Collision Detection on GPUs. IEEE International Conference on Robotics and Automation (ICRA) 2025. Available: https://www.arxiv.org/abs/2409.09918