Software for detecting collisions among geometric objects. Most of the software provide complete collision detection, allowing objects to move dynamically while detecting collisions among them. Other software is just for the static case: do polyhedra collide; if so, by how much do they penetrate; and if not, how far away from each other are they? Much of the software supports general "polygon soups": an arbitrary set of polygons in 3-D (typically triangles) with no connectivity information required. Other software exploits the structure of special objects, such as convex polyhedra.
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.
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.
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.
A collision detection library for general polygon soups. Combines I_COLLIDE's "sweep and prune" algorithm with RAPID. Source available for noncommercial use.
Last update:December 18, 2014 at 4:44:07 UTC