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V-Clip Collision Detection Library - http://www.merl.com/projects/vclip/
An implementation of the Lin-Canny algorithm for computing the distance between two closed polyhedra. Source available for noncommercial use. |
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SOLID: Software Library for Interference Detection - http://www.win.tue.nl/~gino/solid/
LGPL standard C++ library for interactive collision detection, based on axis-aligned bounding box trees. |
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RAPID: Robust and Accurate Polygon Interference Detection - http://www.cs.unc.edu/~geom/OBB/OBBT.html
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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V-Collide - http://www.cs.unc.edu/~geom/V_COLLIDE/
A collision detection library for general polygon soups. Combines I_COLLIDE's "sweep and prune" algorithm with RAPID. Source available for noncommercial use. |
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I_COLLIDE - http://www.cs.unc.edu/~geom/I_COLLIDE/
An interactive and exact collision-detection library for convex polyhedra. Includes the source code (free for noncommercial use), relevant papers, and an MPEG demonstration. |