Excessively minimal C++ library for detecting and resolving collisions of (rigid) bodies in 3D space. There's a roughly 100-line example of some tetrahedrons endlessly colliding here as well. They are drawn using OpenGL but the library itself has no dependencies.
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Collision detection and resolution of rigid bodies in 3D space
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meribold/nutshell_dynamics
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Collision detection and resolution of rigid bodies in 3D space
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