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CD - users.volja.net
A free collision detection library. Source code, example and theory of collision detection available for download
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ColDet: Free 3D Collision Detection Library - photoneffect.com
A free library intended for game programming. Supports general polygon soups and based on bounding-box hierarchies. Open source, from The Photon Effect
coldet 3d collision realtime games
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RAPID: Robust and Accurate Polygon Interference Detection - cs.unc.edu
A numerically robust library supporting general polygon soups, based on oriented bounding box (OBB) trees. The source is available for noncommercial use via email. A paper on OBB trees is available for download
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Computing the Distance between Objects - users.comlab.ox.ac.uk
An implementation of the Gilbert, Johnson, and Keerthi (GJK) algorithm for tracking the distance between a pair of convex polyhedra. Source available for nonprofit use
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V-Clip Collision Detection Library - merl.com
An implementation of the Lin-Canny algorithm for computing the distance between two closed polyhedra. Source available for noncommercial use
merl mitsubishi electric research laboratories technology reports publications
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