A collision detection library for general polygon soups. Combines I_COLLIDE's "sweep and prune" algorithm with RAPID. Source available for noncommercial use.
A numerically robust library supporting general polygon soups, based on oriented bounding box (OBB) trees. The source is available for noncommercial use via email. A paper on OBB trees is available for download.
Uses computer vision techniques, in real time, to dynamically extract per-pixel depth and reflectance information for the visible surfaces in the Office, such as walls, furniture, objects and people.