awesome-collision-detection

Collision detection libraries

A curated collection of libraries and resources for simulating collisions between objects in 2D or 3D space

sunglasses A curated list of awesome collision detection libraries and resources

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Awesome Collision Detection / Libraries
BEPUphysics 1
github 401 over 1 year ago
Bullet
github 12,653 4 months ago
github 125 5 months ago
FCL 1,426 about 1 month ago
github 1,426 about 1 month ago
HPP-FCL 320 4 days ago
github 320 4 days ago
JitterPhysics 45 over 3 years ago
github 45 over 3 years ago
libccd 503 12 months ago
github 503 12 months ago
ncollide
github 924 almost 2 years ago
ODE
Python C++,
bitbucket
OpenGJK
github 138 11 months ago
Parry 581 6 days ago
github 581 6 days ago
ReactPhysics3d
github 1,537 about 1 month ago
github 4,313 about 1 month ago
github 930 over 3 years ago
ColDet 3D Collision Detection
GIMPACT Tools for geometry processing and collision detection
OPCODE Optimized Collision Detection
github 4 over 7 years ago OZCollide [ ]
SOLID Collision detection of 3D objects undergoing rigid motion and deformation

Awesome Collision Detection / Libraries / Mesh Processing
bounding-mesh ( ) - Implementation of the bounding mesh and bounding convex decomposition algorithms for single-sided mesh approximation
github 930 2 months ago cinolib ( ) - A generic programming header only C++ library for processing polygonal and polyhedral meshes
libigl ( ) - A simple C++ geometry processing library

Awesome Collision Detection / Papers
pdf GJK++: Leveraging Acceleration Methods for Faster Collision Detection (2023), Montaut et al. [ , , ]
pdf Collision Detection Accelerated: An Optimization Perspective (2022), Montaut et al. [ , , ]
pdf A fast procedure for computing the distance between complex objects in three-dimensional space (1988) Gilbert, Johnson and Keerthi [ ]
pdf Differentiable Collision Detection: a Randomized Smoothing Approach (2022), Montaut et al. [ , ]
pdf Efficient triangle-triangle intersection test for OBB-based collision detection (2009), J.-W. Chang et al. [ ]
pdf A fast triangle to triangle intersection test for collision detection (2006), O. Tropp et al. [ , ]

Awesome Collision Detection / Papers / pdf
Stack Overflow A failure case was reported in

Awesome Collision Detection / Papers
pdf Faster Triangle-Triangle Intersection Tests (2006), O. Devillers et al. [ , ]
pdf A Fast Triangle-Triangle Intersecion Test (1997), T. Muller. [ , ]
pdf Robust contact generation for robot simulation with unstructured meshes (2013), K. Hauser. [ , ]
pdf PolyDepth: Real-time Penetration Depth Computation using Iterative Contact-Space Projection (2012), C. Je et al. [ ]
M. Macklin Local Optimization for Robust Signed Distance Field Collision (2020), et al. [ , , ]
pdf Hierarchical hp-Adaptive Signed Distance Fields (2016), D. Koschier et al. [ , ]
pdf Voxblox: Building 3d signed distance fields for planning (2016), H Oleynikova et al. [ , ]
pdf Signed distance fields for polygon soup meshes (2014), H. Xu and Jernej Barbic. [ ]
pdf Fast Proximity Queries with Swept Sphere Volumes (1999), E. Larsen et al. [ , ]
pdf Hierarchical and Controlled Advancement for Continuous Collision Detection of Rigid and Articulated Models (2013), M. Tang et al. [ , ]
pdf Efficient Geometrically Exact Continuous Collision Detection (2012), T. Brochu et al. [ , ]
pdf C2A: Controlled Conservative Advancement for Continuous Collision Detection of Polygonal Models (2009), M. Tang et al. [ ]
pdf Continuous Collision Detection for Articulated Models using Taylor Models and Temporal Culling (2007), X. Zhang et al. [ , ]
pdf Interactive continuous collision detection for non-convex polyhedra (2006), X. Zhang et al. [ , ]
pdf Faster cover tree (2015), M. Izbicki et al. [ , ]
pdf Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration (2009), M. Muja and D. Lowe. [ , ]
pdf Cover Tree for Nearest Neighbor (2006), A. Beygelzimer et al. [ , , ]
pdf FCL: A General Purpose Library for Collision and Proximity Queries (2012), J. Pan et al. [ , ]
pdf Collision Detection: A Survey (2007), S. Kockara et al. [ ]
pdf 3D collision detection: a survey (2001), P. Jiménez et al. [ ]

Awesome Collision Detection / Books
amazon Real-Time Collision Detection, CRC Press 2004 ( )
amazon Collision Detection in Interactive 3D Environments, CRC Press 2003 ( )

Awesome Collision Detection / Articles
Video Game Physics Tutorial - Part II: Collision Detection for Solid Objects by
GPU Rigid Body Simulation (GDC 2013), Erwin Coumans
OpenCL accelerated rigid body and collision detection (RSS 2011), Erwin Coumans
Contact Generation (GDC 2010), Erwin Coumans
spatial-collision-datastructures 129 over 6 years ago Benchmark of various spatial data structures for collision detection
Algorithm table for narrowphase algorithms
3D Collision detection by
Collision Detection ( ) by Jeff Thompson - This book explains the algorithms behind those collisions using basic shapes like circles, rectangles, and lines so you can implement them into your own projects
Note: The Gibert-Jonson-Keerthi algorithm by Christer Ericson
Benchmark of various spatial data structures for collision detection 129 over 6 years ago

Awesome Collision Detection / Articles / Bounding volume heirarchy
Bounding Volume Hierarchy Optimization through Agglomerative Treelet Restructuring ( , ) by Leonardo R. Domingues and Helio Pedrini
Dynamic AABB Tree by
Efficient BVH Construction via Approximate Agglomerative Clustering by Yan Gu et al. ( )
Octree vs BVH by

Awesome Collision Detection / Other Awesome Lists
Awesome Robotics Libraries 2,327 5 months ago This is a list of various libraris and software for robotics. It's also attempting to provide some comparisons for selected libraries and software

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