Kineo Collision Detector (KCD) is a software component that performs high speed collision analysis on mesh surfaces (polyhedrons) and point cloud data. Its high perfomance makes it particulartly well-suited to complex motion simulation environments. This article describes some of the enhancements released in version 6.0.
KCD 6.0 delivers improved performance when computing minimal distance between a set of objects. The faster computation makes it possible, for instance, to update the measurement and display of the clearance between two objects in real time during motion simulation sequences.
KCD version 6.0 also simplifies the use of the API. The previous concept of "collision entity" for defining in advance the level in the assembly where KCD can perform collision detection is no longer required. Collision detection and proximity queries can now be called at any level in the hierarchy.
KCD 6.0 introduces a new computation for penetration depth. The penetration depth is defined as the minimal translation distance to remove the collision between two colliding objects. The performance of this computation is dramatically accelerated by the use of the host GPU.
KCD has previously supported 3D models based on polygonal data (triangular mesh surfaces) and/or point clouds (typically obtained through laser/optical scanning). Version 6.0 introduces additional support for wireframe geometry. This provides additional flexibility, for example, to simplify the creation of cages around the robots.