- Computing the Distance between Objects - 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.
- 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.
- RAPID: Robust and Accurate Polygon Interference Detection - 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.
- SOLID: Software Library for Interference Detection - LGPL standard C library for interactive collision detection, based on axis-aligned bounding box trees.
- V-Clip Collision Detection Library - An implementation of the Lin-Canny algorithm for computing the distance between two closed polyhedra. Source available for noncommercial use.
- 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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