Real-Time Physics Simulation Forum

In SIGGRAPH 2012, we have released our new penetration depth library, PolyDepth, for complicated polygon-soup models. It is free for non-commerical use. For more details about this, please refer to:

http://graphics.ewha.ac.kr/polydepth/

Thank you

Does this return all features in contact? E.g. like four table legs on a ground mesh.