We announced the release of a new continuous collision detection (CCD) library, CATCH, based on the following SIGGRAPH 2007 paper:
Continuous Collision Detection for Articulated Models using Taylor Models and Temporal Culling
You can download it from:http://graphics.ewha.ac.kr/CATCH
Given the initial and final configurations of a moving articulated model, CATCH creates a continuous motion with constant translational and rotational velocities for each link, and checks for interferences between the articulated model under continuous motion and other models in the environment and for self-collisions. CATCH can perform CCDs including self-collisions for articulated models consisting of many links and tens of thousands of triangles in 1.22 ms on average running on a 3.6 GHz Pentium 4 PC.