Acme: A small 3D geometry library

Abstract Simulation of manned and unmanned vehicles has become more and more important in the last decades. High-performance real-time DIL (Driver-In-The-Loop) and HIL (Hardware-In-The-Loop) simulators require efficient, accurate, and fast algorithms to properly model how a vehicle moves in a virtual environment. Most of the time, the virtual world is made from a multitude of basic geometric entities that can collide and modify accordingly. The ability to quickly resolve basic geometric problems is one of the most important roles in this kind of simulation. Acme library is built to efficiently perform simple operations on a large number of basic geometric entities. In particular, the library is designed to address specific hard real-time tire–road contact geometry analysis. In this paper, we discuss the details about the Acme library implementation, data types, features, and an example application to demonstrate the capabilities of this newly born software.