libccd

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  "desc": "Collision detection between two convex shapes",
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  "github_readme_excerpt": "# libccd [![Build Status](https://travis-ci.org/danfis/libccd.svg?branch=master)](https://travis-ci.org/danfis/libccd)\n\n***libccd*** is library for a collision detection between two convex shapes.\nlibccd implements variation on Gilbert\u2013Johnson\u2013Keerthi algorithm plus Expand\nPolytope Algorithm (EPA) and also implements algorithm Minkowski Portal\nRefinement (MPR, a.k.a. XenoCollide) as described in Game Programming Gems 7.\n\nlibccd is the only available open source library of my knowledge that include\nMPR algorithm working in 3-D space.  However, there is a library called\n[mpr2d](http://code.google.com/p/mpr2d/), implemented in D programming\nlanguage, that works in 2-D space.\n\nlibccd is currently part of:\n\n1. [ODE](http://www.ode.org/) library (see ODE\u0027s *./configure --help* how to enable it),\n2. [FCL](http://www.ros.org/wiki/fcl) library from [Willow Garage](http://www.willowgarage.com/),\n3. [Bullet3](http://bulletphysics.org/) library (https://github.com/bulletphysics/bullet3).\n\nFor implementation details on GJK algorithm, see\nhttp://www.win.tue.nl/~gino/solid/jgt98convex.pdf.\n\n\n## Dependencies\n\nThis library is currently based only on standard libraries.\nThe only exception are testsuites that are built on top of CU\n(https://github.com/danfis/cu) library licensed under LGPL, however only\ntesting depends on it and libccd library itself can be distributed without it.\n\n\n## License\n\nlibccd is licensed under OSI-approved 3-clause BSD License, text of license\nis distributed along with source code in BSD-LICENSE file.\nEach file should include license notice, the rest should be considered as\nlicensed under 3-clause BSD License.\n\n\n## Compile And Install\n\nlibccd contains several mechanisms for compiling and installing. Using a simple Makefile, using autotools, and using CMake.\n\n### 1. Using Makefile\n\nDirectory src/ contains Makefile that should contain everything needed for compilation and installation:\n```sh\n  $ cd src/\n  $ make\n  $ make install\n```\n\nLibrary libccd is by defaul",
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