About
libccd is library for collision detection between two convex shapes.
libccd currently implementes variation on Gilbert-Johnson-Keerthi (GJK) algorithm + Expand Polytope Algorithm (EPA). It also implementes Minkowski Portal Refinement (MPR, a.k.a. XenoCollide) algorithm as published in Game Programming Gems 7.
libccd is also currently included in ODE where can be compiled in and used for collision detection between some pairs of shapes (see --with-libccd option in ODE's configure script).
How to use libccd see Usage.
License
libccd is distributed under the 3-clause BSD License.