CATCH is a continuous collision detection (CCD) library written in C++ for articulated bodies. Given the initial and final configurations of a moving articulated model, CATCH is able to report its first time of contact (TOC) against other objects as well as its associated contact features at the TOC.

  CATCH is written, debugged and complied using Visual C++ 6.0 in MS Windows and is not tested on other platforms yet.

Required Additional Libraries