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CD
A free collision detection library. Source code, example and theory of collision detection available for download.
url: users.volja.net/fajrvehr/index.html
ColDet: Free 3D Collision Detection Library
A free library intended for game programming. Supports general polygon soups and based on bounding-box hierarchies. Open source, from The Photon Effect.
url: photoneffect.com/coldet/
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.
url: users.comlab.ox.ac.uk/stephen.cameron/distances.ht...
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.
url: www.cs.unc.edu/~geom/I_COLLIDE.html
QuickCD
General-purpose collision detection library, capable of handling general polygon soups. Based on hierarchies of bounding volumes of discrete-orientation polytopes. Free source for noncommercial use.
url: www.ams.sunysb.edu/~jklosow/quickcd/QuickCD.html
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.
url: www.cs.unc.edu/~geom/OBB/OBBT.html
SOLID: Software Library for Interference Detection
LGPL standard C++ library for interactive collision detection, based on axis-aligned bounding box trees.
url: www.win.tue.nl/~gino/solid/
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.
url: www.merl.com/projects/vclip/
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.
url: www.cs.unc.edu/~geom/V_COLLIDE/
