Software Collision Detection Algorithms and Data Structures Graphics

Software

Software for detecting collisions among geometric objects. 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.

• - 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.
  
• - LGPL standard C++ library for interactive collision detection, based on axis-aligned bounding box trees.
  
• - 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.
  
• - A free collision detection library. Source code, example and theory of collision detection available for download.
  
• - 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.
  
• - An interactive and exact collision-detection library for convex polyhedra. Includes the source code (free for noncommercial use), relevant papers, and an MPEG demonstration.
  
• - 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.
  
• - A free library intended for game programming. Supports general polygon soups and based on bounding-box hierarchies. Open source, from The Photon Effect.
  
  

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