coal ☆
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Description:
Extension of the Flexible Collision Library
Type: Formula  |  Latest Version: 3.0.2@2  |  Tracked Since: Dec 17, 2025
Links: Homepage  |  formulae.brew.sh
Category: Developer tools
Tags: robotics collision-detection c++ simulation geometry
Install: brew install coal
About:
Coal is a high-performance extension of the Flexible Collision Library (FCL) designed for precise and efficient collision detection and distance computations. It provides a robust mathematical framework for handling complex geometries and rigid body dynamics. This makes it a critical component for advanced robotics simulation and motion planning.
Key Features:
  • Advanced collision detection and proximity queries
  • Support for complex geometries and rigid body dynamics
  • Optimized for high-performance robotics applications
  • Serves as the core physics engine for Pinocchio and HPP frameworks
Use Cases:
  • Motion planning and trajectory optimization in robotics
  • Real-time collision checking for robot simulation
  • Proximity queries for complex mechanical systems
Alternatives:
  • fcl – Coal is a direct extension and fork of FCL, offering enhanced features and performance improvements for advanced robotics needs.
  • bullet3 – While Bullet is a full physics engine, Coal specializes in high-precision collision detection, often used in conjunction with dynamics engines like Pinocchio.
License: BSD-2-Clause
Dependencies: assimp, boost, boost-python3, eigen, eigenpy, octomap, python@3.14
Bottles available for: arm64_tahoe, arm64_sequoia, arm64_sonoma, sonoma, arm64_linux, x86_64_linux
Version History
Detected Version Rev Change Commit
Sep 30, 2025 7:28pm 0 VERSION_BUMP 5d642468
Sep 12, 2025 7:07am 3 VERSION_BUMP aa70a905
Dec 17, 2024 3:27pm 2 VERSION_BUMP 94802118
Nov 23, 2024 11:21pm 0 VERSION_BUMP ae46ec10
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