Code for calculating the intersections between a line segment and a trimesh

I am looking for a good library (preferably in C/C++) that can calculate the intersections开发者_开发问答 between a line segment (ray) and a trimesh.

Thanks in advance for any answers!

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CGAL is probably overkill, but I suggest it just for reference. The documentation is somewhat intimidating, but this chapter could be of interest for you.

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Quick googling led me to GIMPACT (Sourceforge link, not sure if they have an official website)

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Maybe something like this? There is an C++ example on that page as well (intersect_RayTriangle).