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Open Source Code for Common Collision Detection Algorithms?

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Know where I can get source code for coldet algorithms? more specifically broad phase, body pair culling schemes like: KD-Trees for space paritioning, uniform grid space partitioning, octree based partitioning I'm building a new algorithm, and I would like the source code for some of these existing ones so that I can do some profiling tests to compare performance. I'm aware of how they work... but I'd really prefer to avoid coding them myself from scratch to do these tests (time is not on my side), plus an open sourced 'accepted standard' library source for them would be 'fairer' for comparision testing I think. Thanks

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Guest Anonymous Poster
ODE (Open Dynamics Engine) has a multiresolution grid and quadtree implementations in its collision detection systems.

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