If you just need collision detection of convex polyhedra, you might get away with just implementing the separating plane algorithm: https://www.cs.cmu.edu/~baraff/sigcourse/notesd2.pdf
279 karma · joined February 5, 2010
[1]: https://phys.org/news/2010-03-giant-sequoias-yield-longest-h...
Edited: made mistake as well ;)
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