BEPUphysics 1

Pure C# physics engine with broadphase and narrowphase collision detection.

Box2D

2D physics engine with collision, distance, ray cast, and shape cast queries.

Bullet

Real-time physics SDK with collision detection for games, robotics, and simulation.

CCD-Wrapper

Wrapper and benchmark for continuous collision detection algorithms.

coal (HPP-FCL)

Collision detection and distance query library derived from HPP-FCL.

FCL

Flexible Collision Library for collision, distance, and continuous collision queries.

JitterPhysics

C# rigid body physics engine with collision detection support.

Kraft

Object Pascal physics engine with discrete and optional continuous collision detection.

libccd

Small C library for collision detection between convex shapes using GJK and EPA.

MuJoCo

Physics simulator with contact, collision, and distance queries for robotics and control.

ncollide

Rust collision detection library for 2D and 3D geometric queries.

ODE

Open Dynamics Engine with rigid body simulation and collision detection. [bitbucket]

OpenGJK

GJK-based minimum distance library with bindings for multiple languages.

Parry

Rust collision detection and geometric query library from Dimforge.

PhysX

NVIDIA physics SDK with scene queries, contact generation, and collision detection.

python-fcl

Python bindings for FCL collision, distance, and continuous collision queries.

pytorch_volumetric

PyTorch utilities for volumetric signed distance fields and differentiable collision queries.

ReactPhysics3d

C++ 3D physics engine with rigid body collision detection.

Tight-Inclusion

Conservative continuous collision detection library with minimum separation support.

ColDet

3D Collision Detection.

GIMPACT

Tools for geometry processing and collision detection.

OPCODE

Optimized Collision Detection.

SOLID

Collision detection of 3D objects undergoing rigid motion and deformation.

bounding-mesh

Implementation of the bounding mesh and bounding convex decomposition algorithms for single-sided mesh approximation.

CoACD

Approximate convex decomposition for collision-aware mesh approximation.

libigl

A simple C++ geometry processing library.

Video Game Physics Tutorial - Part II: Collision Detection for Solid Objects

by Nilson Souto

GPU Rigid Body Simulation

(GDC 2013), Erwin Coumans

OpenCL accelerated rigid body and collision detection

(RSS 2011), Erwin Coumans

Contact Generation

(GDC 2010), Erwin Coumans

spatial-collision-datastructures

Benchmark of various spatial data structures for collision detection.

Continuous Collision Detection

(code) Project page for continuous collision detection papers, implementations, benchmarks, and datasets.

Algorithm table for narrowphase algorithms

3D Collision detection

by Miguel Casillas

Collision Detection

(code) by Jeff Thompson - This book explains the algorithms behind those collisions using basic shapes like circles, rectangles, and lines so you can implement them into your own projects.

Note: The Gibert-Jonson-Keerthi algorithm

by Christer Ericson

Bounding Volume Hierarchy Optimization through Agglomerative Treelet Restructuring

(paper, code) by Leonardo R. Domingues and Helio Pedrini.

Dynamic AABB Tree

by Randy Gaul

Efficient BVH Construction via Approximate Agglomerative Clustering

(pdf) by Yan Gu et al.

Octree vs BVH

by Thomas Diewald