CollDet

CollDet is an OpenSG based library for collision detection between 3D objects undergoing rigid motion. It was developed by the  Computer Graphics Group of the  TU Clausthal. The library is freely available for non-commercial use.

Features:

• Supports borad-phase and narrow-phase collision detection

• Boxtree and Dop-Tree for the pairwise check

• Separating planes for pre-checks

• Convex hull pre-checks

• Grid for accelerating the broad-phase

• Supports many kinds of objects, even polygon soups

• You can define your own callback classes

• Support for multi-threading

• Easy-to-use interface

Project homepage:  http://cg.in.tu-clausthal.de/research/colldet/

Intersecting teapots	Some levels of a DopTree?