If you just need collision detection of convex polyhedra, you might get away with just implementing the separating plane algorithm: https://www.cs.cmu.edu/~bara

If you just need collision detection of convex polyhedra, you might get away with just implementing the separating plane algorithm: https://www.cs.cmu.edu/~baraff/sigcourse/notesd2.pdf https://www.cs.cmu.edu/~baraff/sigcourse/notesd2.pdf