Collision detection based on Chung Tat Leung's thesis (1996). Excellent work! Really!

The algorithm deals with polytopes. The convex hull of a set of finite points is called a convex polyhedron, or simply a polytope. In fact, the algorithm has no knowledge about how polyhedron's faces are defined. And it doesn't need to. The advantage: it's lightning fast. The drawback: it cannot be applied to concave polyhedra. I think there is a theorem that says that ANY concave polyhedron can be split in two or more convex polyhedra. (Well, if there isn't such theorem, it must be given).

My implementation of the algorithm is not complete, nor very clean, because it was originally written back in 1999, and I lost my interest in CD since then. To be more specific, the package covers only half of the thesis, as it merely detects collision, without providing further information, such as the closest pair of points, etc.

Special note: this package is by no means related to Q_COLLIDE or any other collision detection library available.