SWIFT++ can handle geometric models that are:

• Polyhedral Representation - the objects must be composed of a set of polygons
• Closed or with Boundary - any polyhedral model
• General Shape - a polyhedral model with any degree of non-convexity

SWIFT++ can perform five types of proximity queries:

• Intersection (Collision) Detection - detecting whether two objects intersect (penetrate)
• Tolerance Verification - detecting whether two objects are closer than a given tolerance
• Approximate Distance Computation - computing the minimum distance within an application specified (relative and/or absolute) error bound between a pair of objects
• Exact Distance Computation - computing the minimum distance between a pair of objects
• Contact Determination - computing the set of closest features (vertex,edge,face) for a pair of objects when they are disjoint

SWIFT++ has other key features:

• Fast - query is faster than or comparable to other packages (RAPID, PQP, QuickCD)
• Robust - use of SWIFT as our main overlap subroutine makes our system very robust
• Non-Coherent Query - efficient querying even if coherence is not present
• Bounding Box Pruning - bounding boxes are placed around each object to prune unnecessary computation through a sweep and prune sorting algorithm
• Bounding Box Type Choosing - bounding boxes types can be chosen automatically
• Static Objects and Pair Activation Control - objects that are declared static (fixed or not moving) are automatically optimized for and any pair may be activated or deactivated
• Flexible Object Import - objects may be added to a scene through arrays or through files of various formats
• Object Geometry Sharing - objects that are made of the same geometry can share that geometry