Interactive and Exact Collision Detection for Multi-Body Environments

We present an algorithm for exact collision detection in interactive environments Such environments are characterized by the number of objects undergoing motion and the complexity of the models We do not assume that the motions of the objects are expressible as closed form functions of time nor do we assume any limitations on their velocities The algorithm uses a two level hierarchical representation for each model to selectively compute the precise contact between objects achieving real time performance without compromising accuracy In large environments with n moving objects it uses the temporal and geomet ric coherence that exists between successive frames to overcome the bottleneck of O n pairwise comparisons The algorithm has been successfully demonstrated in architectural walkthrough and simulated environments In particular the algorithm takes less than of a second to determine all the collisions and contacts in an environment consisting of more than moving polytopes each consisting of more than faces Additional

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