Speedy Walking via Improved Feature Testing for Non-Convex Objects

SWIFT++ is a collision detection package capable of detecting intersection, performing tolerance verification, computing approximate and exact distance, and determining the contacts between pairs of objects in a scene composed of general rigid polyhedral models. It is a robust and efficient library shown to be substantially faster than currently available packages. It is a powerful package from its input interface to its query interface providing a rich feature set. There are many settings available but the basic principles are rather simple and straightforward. A preprocessor is provided with the library. It is called the decomposer and it is used to process models before they are provided to SWIFT++. This manual will attempt to cover all the features available in SWIFT++ as well as provide useful shortcuts and efficiency tips. The material will first be covered in general followed by added detail.