ZeroTwin3D 1.4.0

.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.
There is a newer version of this package available.
See the version list below for details. 
dotnet add package ZeroTwin3D --version 1.4.0
                    


                    

                
NuGet\Install-Package ZeroTwin3D -Version 1.4.0
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="1.4.0" />
For projects that support PackageReference, copy this XML node into the project file to reference the package. 
<PackageVersion Include="ZeroTwin3D" Version="1.4.0" />
                    


                            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 1.4.0
                    


                    

                
#r "nuget: ZeroTwin3D, 1.4.0"
#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@1.4.0
#: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=1.4.0
                    


                            Install as a Cake Addin
                        

                    

                
#tool nuget:?package=ZeroTwin3D&version=1.4.0
                    


                            Install as a Cake Tool

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

License: MIT .NET Multi-Targeting

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

Key Features

  • 3D Spatial Camera & View Frustum Culling: Full Perspective & Orthographic projection support (Camera3D), 6-plane frustum extraction, and high-performance AABB view-frustum culling.
  • Orbit / Arcball Camera Controller: Intuitive CAD model inspection (OrbitCameraController) with spherical yaw/pitch orbiting, boundary clamping, distance zooming, and screen-aligned panning.
  • Inverse Kinematics (CCD-IK): Cyclic Coordinate Descent solver (NumericalInverseKinematics) for $N$-DOF articulated robots and SCARA manipulators with joint limit constraints.
  • Multi-Joint Trajectory Planner: Smooth kinematic path generation (TrajectoryPlanner) supporting Cubic Hermite Spline ($C^1$ continuity), smooth S-curve Trapezoidal, and Linear velocity profiles.
  • PBR & Blinn-Phong Lighting: Directional, Point, Spot, and Ambient light sources (Light3D) with surface shading (Material3D) and standard industrial presets (IndustrialSteel, RobotOrange, SafetyYellow, SafetyRed, Glass).
  • Scene Graph Rendering Engine: Hierarchical spatial tree traversal (TwinSceneRenderer), opaque front-to-back and transparent back-to-front queue sorting, and draw command batching (RenderCommand).
  • Robotic Kinematics Engine: Analytical Denavit-Hartenberg (DH) forward kinematics solver (RobotKinematics) supporting 6-DOF articulated arms and 4-DOF SCARA robots.
  • Pure C# 3D Mathematics: Fast vector, matrix, quaternion, and spatial transformation pipeline (Math3D) with zero unmanaged dependencies.
  • CAD Mesh Parsers: Pure C# streaming parsers for binary/ASCII STL (StlParser) and Wavefront OBJ (ObjParser) meshes.
  • Spatial Safety Boundaries: Real-time PLC telemetry synchronization and automated workcell exclusion zone breach detection (TwinScene, TwinTelemetryBridge).

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.

NuGet packages

This package is not used by any NuGet packages.

GitHub repositories

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Version Downloads Last Updated
1.5.0 96 9/22/2026
1.4.0 87 9/22/2026
1.2.0 89 9/21/2026
1.1.0 95 9/21/2026
1.0.0 99 9/14/2026