Abstract

Many applications in Computer Graphics require fast and robust 3D collision detection algorithms. These algorithms can be grouped into four approaches: space-time volume intersection, swept volume interference, multiple interference detection and trajectory parameterization. While some approaches are linked to a particular object representation scheme (e.g., space-time volume intersection is particularly suited to a CSG representation), others do not. The multiple interference detection approach has been the most widely used under a variety of sampling strategies, reducing the collision detection problem to multiple calls to static interference tests. In most cases, these tests boil down to detecting intersections between simple geometric entities, such as spheres, boxes aligned with the coordinate axes, or polygons and segments. The computational cost of a collision detection algorithm depends not only on the complexity of the basic interference test used, but also on the ...

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