Intended and optimized for use in 3D real-time applications

Multithreading support

Extensible: Users can add new shape types, collision algorithms, collision filters or spatial partitioning methods

Primitives: box, capsule, circle, cone, cylinder, height field, line, line segment, orthographics view volume, perspective view volume (frustum), plane, point, ray, rectangle, sphere, triangle

Compound shapes: composites of primitives, convex hull of points, convex hull of shapes, Minkowski sum, Minkowski difference, triangle mesh

Uniform and non-uniform scaling of shapes

Automatic computation of tight-fitting bounding shapes (bounding spheres, bounding capsules, oriented bounding boxes and convex hulls)

Volume computation for all shapes and closed triangle meshes

Supported collision queries:

• Have-contact queries (boolean queries)

• Closest-point queries (proximity queries)

• Contact queries (intersection queries incl. contact positions, normal vectors and penetration depths) and ray casting

• Time-of-impact queries (Continuous Collision Detection, CCD)

Customizable collision filtering

Broad phase collision detection

Trigger objects

Contact filtering and contact reduction

Persistent contacts and contact caching

Mesh representation using doubly-connected edge lists (DCEL)

Convex hull creation and simplification

Automatic approximation of triangle meshes for arbitrary convex shapes (using support map sampling)

Approximate Convex Decomposition (ACD)

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Axis-aligned bounding box tree

Compressed axis-aligned bounding box tree for memory intense objects

Dynamic axis-aligned bounding box tree for dynamic objects

Adaptive axis-aligned bounding box tree for large deformable meshes

Sweep and Prune method

Dual partition broad-phase method

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