Mesh Collision Detection
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Tests whether meshes penetrate each other or come closer than a configured safety margin.

Input
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Either:

* **Pair mode** — exactly two meshes.
* **Group mode** — no mesh input at launch; meshes are assigned to numbered groups in the controller.

Output
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No new data objects. The controller reports whether the chosen pair or groups are in collision (within the safety distance). Mesh poses are read from each mesh's current transformation when detection runs.

Description
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The algorithm converts meshes to an internal collision representation on first use (this step is expensive). Later checks reuse that representation and automatically pick up pose updates.

Pair mode
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Select two meshes and open the algorithm. Press **Detect** in the controller to test whether they collide.

Group mode
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Open the algorithm without selecting meshes. For each mesh to include:

1. Select the mesh in the data model (it appears in the **Meshes** table).
2. Enter a group index under **Assign to group** and click **Apply**.

Repeat until all relevant meshes are assigned. Choose two groups under **Collision detection**, set **Safety distance** if needed, and click **Detect**.

**Safety distance** — minimum clearance in millimeters between mesh surfaces. If any point on one mesh is closer than this distance to the other mesh (or group), the result is reported as a collision.