Animation based in dynamic simulation involving irregular objects with non-homogeneous rugosities

We propose a new technique that provides a unified framework for modeling the collision dynamics of objects having arbitrary shape and rugosity. The technique assumes that boundary of the object is expressed by elementary segments with some random distribution of perturbation. Collision detection and treatment is done considering this conceptual representation. In order to efficiently detect collisions between irregular objects, we introduce the augmented oriented bounded box tree.

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