ZeroTwin3D 1.5.0

.NET 8.0 This package targets .NET 8.0. The package is compatible with this framework or higher. .NET Standard 2.0 This package targets .NET Standard 2.0. The package is compatible with this framework or higher. .NET Framework 4.6.2 This package targets .NET Framework 4.6.2. The package is compatible with this framework or higher. 
dotnet add package ZeroTwin3D --version 1.5.0
                    


                    

                
NuGet\Install-Package ZeroTwin3D -Version 1.5.0
This command is intended to be used within the Package Manager Console in Visual Studio, as it uses the NuGet module's version of Install-Package. 
<PackageReference Include="ZeroTwin3D" Version="1.5.0" />
For projects that support PackageReference, copy this XML node into the project file to reference the package. 
<PackageVersion Include="ZeroTwin3D" Version="1.5.0" />
                    


                            Directory.Packages.props
                        

                    

                
<PackageReference Include="ZeroTwin3D" />
                    


                            Project file
For projects that support Central Package Management (CPM), copy this XML node into the solution Directory.Packages.props file to version the package. 
paket add ZeroTwin3D --version 1.5.0
                    


                    

                
#r "nuget: ZeroTwin3D, 1.5.0"
#r directive can be used in F# Interactive and Polyglot Notebooks. Copy this into the interactive tool or source code of the script to reference the package. 
#:package ZeroTwin3D@1.5.0
#:package directive can be used in C# file-based apps starting in .NET 10 preview 4. Copy this into a .cs file before any lines of code to reference the package. 
#addin nuget:?package=ZeroTwin3D&version=1.5.0
                    


                            Install as a Cake Addin
                        

                    

                
#tool nuget:?package=ZeroTwin3D&version=1.5.0
                    


                            Install as a Cake Tool

ZeroTwin3D: Pure C# 3D Digital Twin & Robot Kinematics for .NET

ZeroPlatform Tier License: MIT .NET Multi-Targeting NuGet Version

ZeroTwin3D is a sovereign, lightweight, pure C# 3D digital twin engine, robotic kinematics solver, collision detection pipeline, and spatial safety boundary supervisor for .NET.

Operating as a spatial simulation & kinematics member of Tier 4 (Graphics & Spatial 3D) within the ZeroPlatform ecosystem.

🏛️ Ecosystem Architectural Alignment

  • Architectural Tier: Tier 4 (Graphics & Spatial 3D)
  • Permitted Upstream Dependencies: Tier 0 (ZeroPrimitives), Tier 2 (ZeroData), Tier 4 (Zero3D, ZeroGraphics)
  • Downstream Consumers: Tier 5 (ZeroUI, ZeroPipeline)
  • Core Guarantees: Pure C# execution, zero unmanaged CAD DLLs, analytical kinematics, OBB SAT collision in microseconds.

Key Features

  • ROS URDF Robot Model Loader (UrdfLoader):
    • Full XML parser for Unified Robot Description Format (URDF) models.
    • Automatic parsing of robot links (Box, Cylinder, Sphere, CAD mesh), visuals, colors, materials, and joint types (revolute, continuous, prismatic, fixed) with joint limits.
    • Automatically reconstructs hierarchical TwinNode Scene Graph and directly configures analytical RobotKinematics.
  • OBB Separating Axis Theorem Collision Detection (Obb3D):
    • Full 15-axis Separating Axis Theorem (SAT) collision pipeline for Oriented Bounding Boxes (OBB vs OBB, OBB vs AABB).
    • Fast oriented bounding box construction from point sets or extents/quaternion orientation.
  • Robotic Kinematics Engine (RobotKinematics):
    • Analytical Denavit-Hartenberg (DH) forward kinematics solver supporting 6-DOF articulated arms and 4-DOF SCARA robots.
  • Inverse Kinematics (CCD-IK) (NumericalInverseKinematics):
    • Cyclic Coordinate Descent solver for $N$-DOF articulated robots and SCARA manipulators with joint limit constraints.
  • Multi-Joint Trajectory Planner (TrajectoryPlanner):
    • Smooth kinematic path generation supporting Cubic Hermite Spline ($C^1$ continuity), smooth S-curve Trapezoidal, and Linear velocity profiles.
  • 3D Spatial Camera & View Frustum Culling (Camera3D):
    • Perspective & Orthographic projection, 6-plane frustum extraction, and high-performance AABB view-frustum culling.
  • Orbit / Arcball Camera Controller (OrbitCameraController):
    • Intuitive CAD model inspection with spherical yaw/pitch orbiting, boundary clamping, distance zooming, and screen-aligned panning.
  • CAD Mesh Parsers (StlParser, ObjParser):
    • Pure C# streaming parsers for binary/ASCII STL and Wavefront OBJ meshes.
  • Spatial Safety Boundaries (TwinScene, TwinTelemetryBridge):
    • Real-time PLC telemetry synchronization and automated workcell exclusion zone breach detection.
  • Multi-Targeting: .NET Standard 2.0, .NET Framework 4.6.2, .NET 8.0+.

Multi-Targeting

  • .NET 8.0+
  • .NET Framework 4.6.2+
  • .NET Standard 2.0

License

MIT License. Copyright © 2026 Phong Võ (kzxl).

Product Compatible and additional computed target framework versions.
.NET net5.0 was computed.  net5.0-windows was computed.  net6.0 was computed.  net6.0-android was computed.  net6.0-ios was computed.  net6.0-maccatalyst was computed.  net6.0-macos was computed.  net6.0-tvos was computed.  net6.0-windows was computed.  net7.0 was computed.  net7.0-android was computed.  net7.0-ios was computed.  net7.0-maccatalyst was computed.  net7.0-macos was computed.  net7.0-tvos was computed.  net7.0-windows was computed.  net8.0 is compatible.  net8.0-android was computed.  net8.0-browser was computed.  net8.0-ios was computed.  net8.0-maccatalyst was computed.  net8.0-macos was computed.  net8.0-tvos was computed.  net8.0-windows was computed.  net9.0 was computed.  net9.0-android was computed.  net9.0-browser was computed.  net9.0-ios was computed.  net9.0-maccatalyst was computed.  net9.0-macos was computed.  net9.0-tvos was computed.  net9.0-windows was computed.  net10.0 was computed.  net10.0-android was computed.  net10.0-browser was computed.  net10.0-ios was computed.  net10.0-maccatalyst was computed.  net10.0-macos was computed.  net10.0-tvos was computed.  net10.0-windows was computed. 
.NET Core netcoreapp2.0 was computed.  netcoreapp2.1 was computed.  netcoreapp2.2 was computed.  netcoreapp3.0 was computed.  netcoreapp3.1 was computed. 
.NET Standard netstandard2.0 is compatible.  netstandard2.1 was computed. 
.NET Framework net461 was computed.  net462 is compatible.  net463 was computed.  net47 was computed.  net471 was computed.  net472 was computed.  net48 was computed.  net481 was computed. 
MonoAndroid monoandroid was computed. 
MonoMac monomac was computed. 
MonoTouch monotouch was computed. 
Tizen tizen40 was computed.  tizen60 was computed. 
Xamarin.iOS xamarinios was computed. 
Xamarin.Mac xamarinmac was computed. 
Xamarin.TVOS xamarintvos was computed. 
Xamarin.WatchOS xamarinwatchos was computed. 
Compatible target framework(s)
Included target framework(s) (in package)
Learn more about Target Frameworks and .NET Standard.

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Version Downloads Last Updated
1.5.0 96 9/22/2026
1.4.0 86 9/22/2026
1.2.0 89 9/21/2026
1.1.0 95 9/21/2026
1.0.0 99 9/14/2026