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General-purpose collision detection library, capable of handling general polygon soups. Based on hierarchies of bounding volumes of discrete-orientation polytopes. Free source for noncommercial use.
www.ams.sunysb.edu
RAPID: Robust and Accurate Polygon Interference Detection
A numerically robust library supporting general polygon soups, based on oriented bounding box (OBB) trees. The source is available for noncommercial use via email. A paper on OBB trees is available for download.
www.cs.unc.edu
A collision detection library for general polygon soups. Combines I_COLLIDE's "sweep and prune" algorithm with RAPID. Source available for noncommercial use.
www.cs.unc.edu
V-Clip Collision Detection Library
An implementation of the Lin-Canny algorithm for computing the distance between two closed polyhedra. Source available for noncommercial use.
www.merl.com
SOLID: Software Library for Interference Detection
LGPL standard C++ library for interactive collision detection, based on axis-aligned bounding box trees.
www.win.tue.nl
An interactive and exact collision-detection library for convex polyhedra. Includes the source code (free for noncommercial use), relevant papers, and an MPEG demonstration.
www.cs.unc.edu
Computing the Distance between Objects
An implementation of the Gilbert, Johnson, and Keerthi (GJK) algorithm for tracking the distance between a pair of convex polyhedra. Source available for nonprofit use.
web.comlab.ox.ac.uk