[ 源代码： libccd ]
软件包：libccd2（2.1-2 以及其他的）
Library for collision detection between convex shapes - shared library
libccd implements variation on Gilbert-Johnson-Keerthi (GJK) algorithm + Expand Polytope Algorithm (EPA). It also implements Minkowski Portal Refinement (MPR, a.k.a. XenoCollide) algorithm as published in Game Programming Gems 7. libccd is one of the very few open source libraries 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.
This package gathers the shared library