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Collision detection is a classic problem of computational geometry with applications in computer graphics, physical simulation, video games, robotics (including autonomous driving) and computational physics. Collision detection algorithms can be divided into operating on 2D or 3D spatial objects. [1]
Bullet is a physics engine which simulates collision detection as well as soft and rigid body dynamics.It has been used in video games and for visual effects in movies. Erwin Coumans, its main author, won a Scientific and Technical Academy Award [4] for his work on Bullet.
In physical simulations, sweep and prune is a broad phase algorithm used during collision detection to limit the number of pairs of solids that need to be checked for collision, i.e. intersection. This is achieved by sorting the starts (lower bound) and ends (upper bound) of the bounding volume of each solid along a number of arbitrary axes.
Box2D's collision detection and resolution system consists of three pieces: an incremental sweep and prune broad phase, a continuous collision detection unit, and a stable linear-time contact solver. These algorithms allow efficient simulations of fast bodies and large stacks without missing collisions or causing instabilities.
"Collision Detection Accelerated: An Optimization Perspective", Montaut, Le Lidec, Petrik, Sivic and Carpentier. This research article notably shows how the original GJK algorithm can be accelerated by exploiting Nesterov-type acceleration strategies, contributing to lowering the overall computational complexity of GJK.
Project Chrono is a physics engine developed by University of Parma, University of Wisconsin-Madison and members of its open source community. It supports simulating rigid and soft body dynamics, collision detection, vehicle dynamics, fluid-solid interaction, deformable terrain, and granular dynamics, among other physical systems.
A collision with many objects. This demo is distributed with the ODE source code (demo_crash). The Open Dynamics Engine (ODE) is a physics engine written in C/C++. Its two main components are a rigid body dynamics simulation engine and a collision detection engine. [3] It is free software licensed both under the BSD license and the LGPL.
Tokamak provides collision detection for primitives (box, sphere, capsule), combinations of primitives, and arbitrary static triangle meshes. Lightweight 'rigid particles' provide particle effects in games at minimal cost. Tokamak also supports "Breakage Constructing models" which will break when a collision occurs.