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Open Directory: Computers: Programming: Graphics: Algorithms and Data Structures: Collision Detection: Software
    Computing the Distance between Objects    *Computing the Distance between Objects  www.comlab.ox.ac.uk/people/stephen.cameron/distances
    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    *I_COLLIDE  www.cs.unc.edu/~geom/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    *RAPID: Robust and Accurate Polygon Interference Detection  www.cs.unc.edu/~geom/OBB/OBBT.html
    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    *SOLID: Software Library for Interference Detection  www.win.tue.nl/~gino/solid
    LGPL standard C++ library for interactive collision detection, based on axis-aligned bounding box trees.

    V-Clip Collision Detection Library    *V-Clip Collision Detection Library  www.merl.com/projects/vclip
    An implementation of the Lin-Canny algorithm for computing the distance between two closed polyhedra. Source available for noncommercial use.

    V-Collide    *V-Collide  www.cs.unc.edu/~geom/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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