A few years ago when I needed to write collision detection for a variety of specialized cases, I found the book "Real-Time Collision Detection". It is one of t

A few years ago when I needed to write collision detection for a variety of specialized cases, I found the book "Real-Time Collision Detection". It is one of the few really comprehensive resources I was able to find on the topic. The example sources are C++ but the concepts apply to 3d in any domain. The website for the book is http://realtimecollisiondetection.net/ http://realtimecollisiondetection.net/