Bash3D is a 3D physics engine based on talks given by Erin Catto about Box2D. It has a broad-phase collision detection step that is powered by an in house BVH tree implementation, and it has a narrow-phase step that uses the Separating Axis Theorem to find collisions between oriented bounding boxes. The final step in the pipeline is the constraint solver, which was influenced heavily by Erin Catto and Box2D.
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