| CD: A free collision detection library. Source code, example and theory of collision detection available for download. |
| 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. |
| 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. |
| 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. |
Classical
