diff --git a/pkgs/development/libraries/fcl/default.nix b/pkgs/development/libraries/fcl/default.nix
new file mode 100644
index 000000000000..33a600805846
--- /dev/null
+++ b/pkgs/development/libraries/fcl/default.nix
@@ -0,0 +1,45 @@
+{ lib, stdenv, fetchFromGitHub, fetchpatch, cmake, eigen, libccd, octomap }:
+
+stdenv.mkDerivation rec {
+  pname = "fcl";
+  version = "0.6.1";
+
+  src = fetchFromGitHub {
+    owner = "flexible-collision-library";
+    repo = pname;
+    rev = version;
+    sha256 = "1i1sd0fsvk5d529aw8aw29bsmymqgcmj3ci35sz58nzp2wjn0l5d";
+  };
+
+  patches = [
+    # Disable SSE on Emscripten (required for the next patch to apply cleanly)
+    # https://github.com/flexible-collision-library/fcl/pull/470
+    (fetchpatch {
+      url = "https://github.com/flexible-collision-library/fcl/commit/83a1af61ba4efa81ec0b552b3121100044a8cf46.patch";
+      sha256 = "0bbkv4xpkl3c0i8qdlkghj6qkybrrd491c8rd2cqnxfgspcd40p0";
+    })
+    # Detect SSE support to fix building on ARM
+    # https://github.com/flexible-collision-library/fcl/pull/506
+    (fetchpatch {
+      url = "https://github.com/flexible-collision-library/fcl/commit/cbfe1e9405aa68138ed1a8f33736429b85500dea.patch";
+      sha256 = "18qip8gwhm3fvbz1cvzf625rh5msq8m4669ld1m60fv6z50clr9h";
+    })
+  ];
+
+  nativeBuildInputs = [ cmake ];
+  propagatedBuildInputs = [ eigen libccd octomap ];
+
+  outputs = [ "out" "dev" ];
+
+  meta = with lib; {
+    description = "Flexible Collision Library";
+    longDescription = ''
+      FCL is a library for performing three types of proximity queries on a
+      pair of geometric models composed of triangles.
+    '';
+    homepage = "https://github.com/flexible-collision-library/fcl";
+    license = licenses.bsd3;
+    maintainers = with maintainers; [ lopsided98 ];
+    platforms = platforms.unix;
+  };
+}
diff --git a/pkgs/development/libraries/libccd/default.nix b/pkgs/development/libraries/libccd/default.nix
new file mode 100644
index 000000000000..a9e0c2b3feb0
--- /dev/null
+++ b/pkgs/development/libraries/libccd/default.nix
@@ -0,0 +1,23 @@
+{ lib, stdenv, fetchFromGitHub, cmake }:
+
+stdenv.mkDerivation rec {
+  pname = "libccd";
+  version = "2.1";
+
+  src = fetchFromGitHub {
+    owner = "danfis";
+    repo = pname;
+    rev = "v${version}";
+    sha256 = "0sfmn5pd7k5kyhbxnd689xmsa5v843r7sska96dlysqpljd691jc";
+  };
+
+  nativeBuildInputs = [ cmake ];
+
+  meta = with lib; {
+    description = "Library for collision detection between two convex shapes";
+    homepage = "https://github.com/danfis/libccd";
+    license = licenses.bsd3;
+    maintainers = with maintainers; [ lopsided98 ];
+    platforms = platforms.unix;
+  };
+}
diff --git a/pkgs/development/libraries/octomap/default.nix b/pkgs/development/libraries/octomap/default.nix
new file mode 100644
index 000000000000..7e82842c0b94
--- /dev/null
+++ b/pkgs/development/libraries/octomap/default.nix
@@ -0,0 +1,24 @@
+{ lib, stdenv, fetchFromGitHub, cmake }:
+
+stdenv.mkDerivation rec {
+  pname = "octomap";
+  version = "1.9.6";
+
+  src = fetchFromGitHub {
+    owner = "OctoMap";
+    repo = pname;
+    rev = "v${version}";
+    sha256 = "03v341dffa0pfzmf2431xb5nq50zq9zlhgl6k2aa3fsza5xmbb70";
+  };
+  sourceRoot = "source/octomap";
+
+  nativeBuildInputs = [ cmake ];
+
+  meta = with lib; {
+    description = "A probabilistic, flexible, and compact 3D mapping library for robotic systems";
+    homepage = "https://octomap.github.io/";
+    license = licenses.bsd3;
+    maintainers = with maintainers; [ lopsided98 ];
+    platforms = platforms.unix;
+  };
+}
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index fc5433a2169f..7916e7d32119 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -14484,6 +14484,8 @@ in
 
   fcgi = callPackage ../development/libraries/fcgi { };
 
+  fcl = callPackage ../development/libraries/fcl { };
+
   ffcast = callPackage ../tools/X11/ffcast { };
 
   fflas-ffpack = callPackage ../development/libraries/fflas-ffpack { };
@@ -15574,6 +15576,8 @@ in
 
   libcbor = callPackage ../development/libraries/libcbor { };
 
+  libccd = callPackage ../development/libraries/libccd { };
+
   libcec = callPackage ../development/libraries/libcec {
     libraspberrypi = null;
   };
@@ -20860,6 +20864,8 @@ in
 
   nss_ldap = callPackage ../os-specific/linux/nss_ldap { };
 
+  octomap = callPackage ../development/libraries/octomap { };
+
   odp-dpdk = callPackage ../os-specific/linux/odp-dpdk { };
 
   odroid-xu3-bootloader = callPackage ../tools/misc/odroid-xu3-bootloader { };