The GNU Triangulated Surface Library http://gts.sourceforge.net/index.html
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libgts

This is the GTS library. GTS stands for the GNU Triangulated Surface Library. It includes a number of useful functions to deal with triangulated surfaces including, but not limited to, multi-resolution models, Delaunay and Constrained Delaunay triangulations, set operations on surfaces (intersection, union etc ...), bounding-boxes trees for efficient collision and intersection detection, triangle strips generation for fast rendering.