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Libccd
Jul 20, 2023
Library for collision detection between two convex shapes
libccd is library for a collision detection between two convex shapes. libccd implements variation on Gilbert-Johnson-Keerthi algorithm plus Expand Polytope Algorithm EPA and also implements algorithm Minkowski Portal Refinement MPR, a.k.a. XenoCollide as described in Game Programming Gems 7.
libccd is the only available open source library of my knowledge that include MPR algorithm working in 3-D space. However, there is a library called mpr2d, implemented in D programming language, that works in 2-D space.
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