Incremental algorithms for collision detection between solid models

Abstract

Fast and accurate collision detection between general solid models is a fundamental problem in solid modeling, robotics, animation and computer-simulated environments. Most of the earlier algorithms are either restricted to a class of solid models, say convex polytopes, or are not fast enough for practical applications. We present an incremental algorithm for collision detection between general B-rep solid models in dynamic environments. The algorithm combines a hierarchical representation with incremental frame to frame computation to rapidly detect collisions.