A REAL-TIME ALGORITHM FOR ACCURATE COLLISION DETECTION FOR DEFORMABLEPOLYHEDRAL OBJECTS

We propose an accurate collision detection algorithm for use in virtua l reality applications, The algorithm works for three-dimensional grap hical environments where multiple objects, represented as polyhedra (b oundary representation), are undergoing arbitrary motion (translation and rotation). The algorithm can be used directly for both convex and concave objects and objects can be deformed (nonrigid) during motion. The algorithm works efficiently by first reducing the number of face p airs that need to be checked accurately for interference, by first loc alizing possible collision regions using bounding box and spatial subd ivision techniques, Face pairs that remain after this pruning stage ar e then accurately checked for interference. The algorithm is efficient , simple to implement, and does not, require any memory-intensive auxi liary data structures to be precomputed and updated,The performance of the proposed algorithm is compared directly against other existing al gorithms, e.g., the separating plane algorithm, octree update method, and distance-based method. Results are given to show the efficiency oi the proposed method in a general environment.