There a several computational geometry algorithms that are relevant for preparing collision data: convex hull, mesh simplification, and convex decomposition. Many implementations of these algorithms are developed outside the specific context of rigid body simulation. For example, qhull computes convex hulls and appears to be application agnostic. Simplygon is focused on simplifying render mesh. On the other hand, convex decomposition algorithms such as V-HACD are developed with physics simula...
