Awesome Open Source
Awesome Open Source

Awesome Collision Detection

A curated list of collision detection open resources

Table of Contents



⚠️ The following table is not complete. Please feel free to report if you find something incorrect or missing.

Name Shapes Features Languages Licenses Code Popularity
BEPUphysics 1 (todo) (todo) C#, .NET Apache v2 github BEPUphysics 1
Bullet (todo) (todo) C++, Python Zlib github bullet3
collision-rs (todo) (todo) Rust Apache-2.0 github rustgd/collision-rs
FCL (todo) (todo) C++ BSD-3-Clause github fcl
Convex Meshes
Height Field
Security Margins
C++, Python BSD-3-Clause github fcl
JitterPhysics (todo) (todo) C#, .NET MIT github JitterPhysics
libccd (todo) (todo) C BSD-3-Clause github libccd
ncollide (todo) (todo) Rust BSD-3-Clause github sebcrozet/ncollide
ODE (todo) (todo) C++, Python LGPL-2.1 or BSD-3-Clause bitbucket
ReactPhysics3d (todo) (todo) C++ Zlib github reactphysics3d
tinyc2 (todo) 2d C/C++ Zlib github RandyGaul/tinyheaders
qu3e (todo) (todo) C++ Zlib github qu3e

Some libraries (e.g., ODE and Bullet) are physics engines that contain collision detection features, but they can be used just as collision detection libraries.


  • ColDet - 3D Collision Detection.
  • GIMPACT - Tools for geometry processing and collision detection.
  • OPCODE - Optimized Collision Detection.
  • OZCollide [github]
  • SOLID - Collision detection of 3D objects undergoing rigid motion and deformation.

Mesh Processing

  • bounding-mesh (github bounding-mesh) - Implementation of the bounding mesh and bounding convex decomposition algorithms for single-sided mesh approximation.
  • cinolib (github mlivesu/cinolib) - A generic programming header only C++ library for processing polygonal and polyhedral meshes.
  • libigl (github libigl/libigl) - A simple C++ geometry processing library.


Collision Detection and Distance Computation

  • A fast procedure for computing the distance between complex objects in three-dimensional space (1988) Gilbert, Johnson and Keerthi [pdf]
  • Collision Detection Accelerated: An Optimization Perspective (2022), Montaut et al. [pdf, code, benchmarks]

Differentiable Collision Detection

  • Differentiable Collision Detection: a Randomized Smoothing Approach (2022), Montaut et al. [pdf, code]

Triangle-triangle Test

  • A faster triangle-to-triangle intersection test algorithm (2013), L.-Y. Wei.
  • Efficient triangle-triangle intersection test for OBB-based collision detection (2009), J.-W. Chang et al. [pdf]
  • A fast triangle to triangle intersection test for collision detection (2006), O. Tropp et al. [pdf, code]
  • Faster Triangle-Triangle Intersection Tests (2006), O. Devillers et al. [pdf, code]
  • A Fast Triangle-Triangle Intersecion Test (1997), T. Muller. [pdf, code]

Mesh Collision

  • Robust contact generation for robot simulation with unstructured meshes (2013), K. Hauser. [pdf, web]

Penetration Depth Computation

  • PolyDepth: Real-time Penetration Depth Computation using Iterative Contact-Space Projection (2012), C. Je et al. [pdf]

Proximity Query / Signed Distance Field

  • Local Optimization for Robust Signed Distance Field Collision (2020), M. Macklin et al. [pdf, slides, video]
  • Hierarchical hp-Adaptive Signed Distance Fields (2016), D. Koschier et al. [pdf, video]
  • Voxblox: Building 3d signed distance fields for planning (2016), H Oleynikova et al. [pdf, code]
  • Signed distance fields for polygon soup meshes (2014), H. Xu and Jernej Barbic. [pdf]
  • Fast Proximity Queries with Swept Sphere Volumes (1999), E. Larsen et al. [pdf, web]

Continuous Collision Detection

  • Hierarchical and Controlled Advancement for Continuous Collision Detection of Rigid and Articulated Models (2013), M. Tang et al. [pdf, web]
  • Efficient Geometrically Exact Continuous Collision Detection (2012), T. Brochu et al. [pdf, video]
  • C2A: Controlled Conservative Advancement for Continuous Collision Detection of Polygonal Models (2009), M. Tang et al. [pdf]
  • Continuous Collision Detection for Articulated Models using Taylor Models and Temporal Culling (2007), X. Zhang et al. [pdf, web]
  • Interactive continuous collision detection for non-convex polyhedra (2006), X. Zhang et al. [pdf, web]

Nearest Neighbor

  • Faster cover tree (2015), M. Izbicki et al. [pdf, code]
  • Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration (2009), M. Muja and D. Lowe. [pdf, code]
  • Cover Tree for Nearest Neighbor (2006), A. Beygelzimer et al. [pdf, web, code]

Comprehensive Collision Detection Library

  • FCL: A General Purpose Library for Collision and Proximity Queries (2012), J. Pan et al. [pdf, code]


  • Collision Detection: A Survey (2007), S. Kockara et al. [pdf]
  • 3D collision detection: a survey (2001), P. Jiménez et al. [pdf]


  • Real-Time Collision Detection, CRC Press 2004 (amazon)
  • Collision Detection in Interactive 3D Environments, CRC Press 2003 (amazon)


Overview & Tutorial



Space Partitioning

Other Awesome Lists

  • Awesome Robotics Libraries - This is a list of various libraris and software for robotics. It's also attempting to provide some comparisons for selected libraries and software.


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