CollDet - A Library for Collision Detection

CollDet is a fast, robust, and accurate library for collision detection between 3D objects undergoing rigid motion. It is designed to be used in interactive 3D realtime-applications. CollDet is based on the portable open source scenegraph OpenSG.

Collision Detection Pipeline


The collision detection process can be regarded as a pipeline of successive filters. The front-end of the pipeline consists mainly of a queue which stores objects. During run-time, objects, together with their current position, are entered in the queue when they have been moved. The collision interest matrix filters out all objects pairs of no intersect. After that, object pairs are filtered further by two neighborfinding stages and finally by an exact collision test. (For more details on that, we refer the interested user to the paper Optimizing the Collision Detection Pipeline).


I presented the library at the Siggraph 07 BoF. Here are the slides.




You can download the source code of CollDet here.

Here is the documentation (generated using doxygen) as individual HTML pages, as a PDF, and as a ZIP archive.

Note that there is a copyright / license that basically says: you can use it for free for academic purposes, but if you want to use it for commercial or other non-academic purposes, then we must negotiate some royalty (which could be a hardware donation, money, etc.). If you are interested, please send me an email.

Benchmarking Results

The diagrams show the performance of our library ("bx" marks the Boxtree and "do" the DopTree) compared to other collision detection libraries, namely, V-Collide ("vc"), PQP, OPCODE ("op"), and FreeSOLID ("so"). For further information about our Benchmarking Suite, including a description of the benchmarking procedure, and much more diagrams, please visit our project homepage.



Click on the pictures to enlarge.


On the left side you can see the intersecting triangles. Click on the image to see a small video.


Discrete orientation polytopes (DOPs) are convex polytopes whose faces can have only normals which come from a fixed small set of orientations (k-DOPs). In order to be able to apply an interval test to DOPs, one restrict the set of orientations further such that for each orientation of the set there is also an anti-parallel one. Thus, this special kind of k-DOPs can be viewed as a generalization of axis-aligned boxes. We have determined 24 as the optimal number of orientation. (For further information: Rapid Collision Detection by Dynamically Aligned DOP-Trees)

The animation on the right shows the first 10 DOP-Tree levels.


These axis-aligned bounding volumes are called Box Tree. Of course, when objects move, they are no longer aligned with respect to the world s coordinate frame. So, when using this type of BVs, the task is to devise algorithms for efficient overlap tests of tumbled bounding boxes. Octrees are a special case of BoxTrees. However, BoxTrees allow for finer control on the balancedness. Each node in the BoxTree stores only: the name a of the splitting axis, two positions, two pointers (to the left and right sub-box), and, for leaves only, a pointer to the polygon(s) associated to the leaf. (For further information: Virtual Reality in Assembly Simulation - Collision Detection, Simulation Algorithms, and Interaction Techniques )

The animation on the right shows some level of the boxtree.


Some scenarios for collision detection algorithms include very specific configurations. For example, data gathered from CAD programs contain numerous intersections between coplanar triangles. Therefore, the robustness of the triangle intersection test, but also the numerical stability of the bounding volume tests play an important role for a proper collision response.
The pictures on the left side shows a snapshot from a CAD generated scene. The upper left picture shows the intersecting triangles found by CollDet, the lower left picture those triangles found by another collision detection library. As you can see, CollDet finds 50% more intersecting triangle pairs than the other library. Tests have shown, that many other libraries miss most of the intersecting coplanar triangles.

Click here to see a video of the complete scene.

Separating Planes

The separating plane algorithm just needs the set of vertices of the convex hull and its adjacency map. It is based on the following notion: Two objects do not intersect iff there is a plane such that all vertices of the objectes are on different sides. Such a plane is called separating plane

The animation on the right shows the line between the closest vertices.


This original work is copyright by University of Bremen.
Any software of this work is covered by the European Union Public Licence v1.2. To view a copy of this license, visit
The Thesis provided above (as PDF file) is licensed under Attribution-NonCommercial-NoDerivatives 4.0 International.
Any other assets (3D models, movies, documents, etc.) are covered by the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License. To view a copy of this license, visit
If you use any of the assets or software to produce a publication, then you must give credit and put a reference in your publication.
If you would like to use our software in proprietary software, you can obtain an exception from the above license (aka. dual licensing). Please contact zach at cs.uni-bremen dot de.