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Collision detection for Physics

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Which Collision Detection Package have you used for physics simulation? For expample, simulating an enviroment with rigid bodies those collide each other, and they would have any kind of convex shape. There is needed that the collision engine gives contact normal information, also penetration depth. Do you know some Free libraries avaliable? Have you get good results with them? They support single float presicion? Thanks

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ODE is a very power, free, physics engine, Tokamak is another popular choice. My personal recommendation would be to use your own system unless you think you need something more powerful.

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