I_COLLIDESave
An interactive and exact collision-detection library for convex polyhedra. Includes the source code (free for noncommercial use), relevant papers, and an MPEG demonstration. http://www.cs.unc.edu/~geom/I_COLLIDE/
QuickCDSave
General-purpose collision detection library, capable of handling general polygon soups. Based on hierarchies of bounding volumes of discrete-orientation polytopes. Free source for noncommercial use. http://www.ams.sunysb.edu/~jklosow/qu...
V-CollideSave
A collision detection library for general polygon soups. Combines I_COLLIDE's "sweep and prune" algorithm with RAPID. Source available for noncommercial use. http://www.cs.unc.edu/~geom/V_COLLIDE/