I've just spent a number of hours searching the forum and browsing the source, and I'm hoping someone here can give me some up-to-date advice about this topic.
I'm trying to solve an engineering problem:
-Thousands of rigid, concave, elements
-Each element is a trimesh, with potentially thousands of triangles
-The elements are static (non-moving, or alternatively, velocity=0)
-Required output is elements that are touching (within a tolerance), or within a "small" distance, and "area of contact" (again, within a tolerance)
-This doesn't need to be "real time" solution - returning a result in minutes would be great!
The problem sounds a lot like broadphase collision detection...or maybe not.
Currently, we are attempting to perform this task using SWIFT++ (http://gamma.cs.unc.edu/SWIFT++/
But it's going to be brutal adapting this to a GPU environment...