VCOLLIDE/RAPID  UNC Collision Detetection Software
VCollide is a collision detection library for large environments.
It is designed to operate on large numbers of polygonal objects. It makes
no assumptions about input structure and works on arbitrary models, also
known as "polygon soups".
VCollide uses a threestage collision detection architecture:

An Nbody test finds possibly colliding pairs of objects,

A hierarchical oriented bounding box test finds possibly colliding
pairs of triangles, and

An exact test determines whether or not a pair of triangles actually
overlaps.
The Nbody routine uses coherence between successive time steps of a
simulation to perform well in animations and moving simulations.
The hierarchical Oriented Bounding Boxes (OBBs) and exact collision routines
are taken from
RAPID, a component
of VCollide which is also available as a standalone package.
VCollide's site
Problem Links
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