# checkCollision

## Syntax

## Description

returns the collision status between the two convex geometries `collisionStatus`

= checkCollision(`geom1`

,`geom2`

)`geom1`

and `geom2`

. If the two geometries are in collision at their specified
poses, `collisionStatus`

is `1`

. If the function does
not find a collision, `collisionStatus`

is `0`

.

`[`

returns the minimal distance `collisionStatus`

,`sepdist`

,`witnesspts`

] = checkCollision(`geom1`

,`geom2`

)`sepdist`

and witness points
`witnesspts`

of each geometry when the function does not find a
collision between the two geometries.

## Examples

## Input Arguments

## Output Arguments

## Limitations

Collision checking results are unreliable when the minimal distance is below 10

^{-5}m.

## References

[1] Gilbert, E.G., D.W. Johnson, and
S.S. Keerthi. *"A fast procedure for computing the distance between complex objects
in three-dimensional space."*
*IEEE Journal on Robotics and Automation* 4, no. 2 (April 1988): 193–203.
https://doi.org/10.1109/56.2083.

## Extended Capabilities

## Version History

**Introduced in R2019b**

## See Also

`collisionBox`

| `collisionCapsule`

| `collisionCylinder`

| `collisionMesh`

| `collisionSphere`