aballier@gentoo.org Alexis Ballier libccd is library for a collision detection between two convex shapes. libccd implements variation on Gilbert–Johnson–Keerthi algorithm plus Expand Polytope Algorithm (EPA) and also implements algorithm Minkowski Portal Refinement (MPR, a.k.a. XenoCollide) as described in Game Programming Gems 7. More precise calculations at the expense of speed https://github.com/danfis/libccd/issues danfis/libccd