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Create an octree and in each leaf cells put the list of all triangles from B that intersect the cell, mark at each levels whether or not the cell is empty. If one cell at any level has only 1 poly note the poly so you can stop the search early (large floor/wall triangles). You can keep sub-dividing cells until you have a reasonable number of triangles in ...


I took a look at a number of implementations that are all based off of this paper: http://home.arcor.de/philippe.guigue/triangle_triangle_intersection.htm Here is one that I extracted and ran with your numbers - it returns no collision. You can look at main() to see the invocation with your test numbers. I have not done any more analysis than that. Good ...

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