Trimesh collision algorithms are there, but I must warn you, they are inefficient. There has been efforts to make them efficient, but convex hull and composite shapes are always going to be faster and take less memory …

You basically traverse the triangles and for every triangle, you traverse the other match, checking collisions. This process is usually sped up using octrees or so … ODE for example has trimesh vs trimesh collision algorithm.

I can’t seem to find any good tutorials on the implementation of per-polygon collision detection. By this, I don’t mean per-polygon hit detection (as in ray tracing), but detecting collisions between two animated meshes with potentially high polygon counts.

I’m looking for pointers on how to go about implementing something like this efficiently. Can you guys point me to a page with good references on the topic? Or sketch out algorithms?

What I’d like to be able to do is have say, semi-realistic collision detection and reaction between objects, with rotational velocities handled… I’d also like my implementation to be stable enough to handle reasonable boundary cases (so very fast objects can’t go through each other).