Efficient Collision Detection for General CSG Objects

A complete method to detect collisions among objects modeled with constructive solid geometry within a computer animation system is introduced. In contrast to existing methods the CSG objects may be constructed from arbitrary kinds of primitives, e.g., polyhedral primitives or primitives with curved surfaces. Collision detection is performed in three stages. Bounding volumes and spatial subdivision are used to reduce the complexity of the CSG objects for detailed analysis. In those regions that are partially covered by both objects an exact collision test for those small parts of the CSG objects that are inside the region is performed. To be able to deal with general CSG objects an adaptive collision detection algorithm for CSG objects containing curved primitives is presented.

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