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IsoMesh is a group of related tools for Unity for converting meshes into signed distance field data, raymarching signed distance fields, and extracting signed distance field data back to meshes via surface nets or dual contouring.
Unity3D based multi-robot simulator can bring-up simulation environment by SDF(Simulation Description File) easily. And it supports to connect ROS2 through cloisim_ros.
Several algorithms for 2D Image to SDF (Signed Distance Field) generation. One of approaches (Linear Sweep) is very fast and can be used to calculate Voronoi points