Layer stack · compas_fab native backend
Four collision checks, fast to exact
Four collision checks, fast to exact
The four collision checks of the native backend, from bounding spheres through link spheres and optional convex hulls to exact meshes, and where each is used.
FAST
EXACT
01
Broad phase
a bounding sphere per link
every check · skips most work
02
Spheres
link spheres vs boxes, ESDF, other links
RRT · IK residuals · clearances
03
Convex hulls
5 mm margin · opt-in (exact_links)
poorly fitted links, in the loop
04
Exact meshes
parry3d, the final word
goals · every planned path
LEGEND
decides what is handed out