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FCL is a library for performing three types of proximity queries on a pair of
geometric models composed of triangles.
It performs:
* Collision detection: detecting whether the two models overlap, and optionally,
all of the triangles that overlap.
* Distance computation: computing the minimum distance between a pair of models,
i.e., the distance between the closest pair of points.
* Tolerance verification: determining whether two models are closer or farther
than a tolerance distance.
* Continuous collision detection: detecting whether the two moving models
overlap during the movement, and optionally, the time of contact.
* Contact information: for collision detection and continuous collision
detection, the contact information (including contact normals and contact
points) can be returned optionally.
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