Software

Software Links

• 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.
  
• 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.
  
• 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.
  
• 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.
  
• 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.
  
• SOLID: Software Library for Interference Detection LGPL standard C++ library for interactive collision detection, based on axis-aligned bounding box trees.
  
• Q_COLLIDE: Quick Collision Detection Library A modified version of I_COLLIDE for collision detection of convex polyhedra. Uses the separating-vector algorithm in place of the closest-feature-tracking algorithm, and the improved Gilbert's algorithm in place of linear programming. Not distributed because of I_COLLIDE restrictions, but relevant papers and a thesis are available.
  
• 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.