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Many collision detection methods exist, each specialized for certain data types under certain constraints. In order to enable rapid development of efficient collision detection procedures, we propose an extensible software architecture that allows for cross-queries between data types, while permitting the time and memory optimizations needed for high-performance. By decomposing collision detection into well-defined algorithmic and data components, we can use the same tree-descent algorithm todoi:10.1109/icarcv.2008.4795573 dblp:conf/icarcv/HimmelsteinGFNLL08 fatcat:5sv5r7y5cfhjhh536v5jlx3tzm