FreeSOLID 2.1.2

SOLID (Software Library for Interference Detection) is a library for collision detection of three-dimensional objects undergoing rigid motion and deformation. SOLID is designed to be used in interactive 3D graphics applications, and is especially suited for collision detection of objects and worlds described in VRML. Object shapes are represented by primitive shapes (box, cone, cylinder, sphere), and complexes of polytopes (line segments, convex polygons, convex polyhedra). Motion is specified by translations, rotations, and nonuniform scalings of the local coordinate system of each moving object.

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