coldet

This library is an effort to provide a free collision detection library for generic polyhedra. Its purpose is mainly for 3D games where accurate detection is needed between two non-simple objects. Features: * Works on any model, even polygon soups. * Uses bounding box hierarchies for fast detection. * Uses additional triangle intersection tests for 100% accuracy. * Provides (upon request) exact point of collision, plus the pair of triangles that collided. * Supports timeout setting, to limit detection time. * Model-Model collision test. * Ray-Model collision test. * Segment-Model collision test. * Sphere-Model collision test. * Ray-Sphere and Sphere-Sphere primitive collision tests.