libccd ☆
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Description:
Collision detection between two convex shapes
Type: Formula  |  Tracked Since: Dec 28, 2025
Links: Homepage  |  formulae.brew.sh
Category: Developer tools
Tags: physics collision-detection robotics gjk c-library
Install: brew install libccd
About:
Libccd is a library for collision detection between two convex shapes. It implements the Gilbert-Johnson-Keerthi (GJK) algorithm and the Expanding Polytope Algorithm (EPA) to provide robust and efficient proximity and penetration depth computations. This makes it a foundational component for physics engines and robotics simulations.
Key Features:
  • Implements GJK and EPA algorithms
  • Supports Minkowski Portal Refinement (MPR)
  • C99 API for high performance and portability
  • Minimal dependencies, easy to integrate
Use Cases:
  • Physics engines for games and simulations
  • Robotic motion planning and grasping
  • CAD and 3D modeling collision checks
Alternatives:
  • Bullet Physics – Bullet is a full-featured physics engine, whereas Libccd is a focused library for just convex-convex collision detection.
  • FCL (Flexible Collision Library) – FCL provides broader support for different geometry types and is often used on top of lower-level solvers like libccd.
Version History
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