libccd (nuget): libccd is library for a collision detection between two convex shapes. libccd implements variation on Gilbert–Johnson–Keerthi algorithm plus Expand Polytope Algorithm (EPA) and also implements algorithm Minkowski Portal Refinement (MPR, a.k.a. XenoCollide) as described in Game Programming Gems 7.  For more info see home of libccd: http://libccd.danfis.cz.  For implementation details on GJK algorithm, see http://www.win.tue.nl/~gino/solid/jgt98convex.pdf.
Keywords: collision|detection