I_COLLIDE is an interactive and exact collision detection library for large environments composed of convex polyhedra . Many non-convex polyhedra may be decomposed into a set of convex polyhedra, which may then be used with this library. I_COLLIDE exploits coherance (the property of a simulation to change very litle between consecutive time steps) and the properties of convexity to achieve very fast collision detection which is exact to the accuracy of the input models.

Current Version:   1.2

License Type:   Free for Non-Commercial Use

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Source Code Availability:   Yes

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ANSI-C Source Code

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C Compiler

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