Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Impulse-based dynamic simulation
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
Approximating polyhedra with spheres for time-critical collision detection
ACM Transactions on Graphics (TOG)
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Collision Detection for Interactive Graphics Applications
IEEE Transactions on Visualization and Computer Graphics
Adaptive medial-axis approximation for sphere-tree construction
ACM Transactions on Graphics (TOG)
Broad-phase collision detection using semi-adjusting BSP-trees
Proceedings of the 2005 symposium on Interactive 3D graphics and games
Real-Time Collision Detection (The Morgan Kaufmann Series in Interactive 3-D Technology) (The Morgan Kaufmann Series in Interactive 3D Technology)
Generalized penetration depth computation
Proceedings of the 2006 ACM symposium on Solid and physical modeling
Improving 3D navigation in multiscale environments using cubemap-based techniques
Proceedings of the 2011 ACM Symposium on Applied Computing
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Collision handling plays a fundamental role for achieving realism and interactivity in 3D graphical systems. Nevertheless, it is still one of the bottlenecks of such systems. In this work, we use the Sweep & Prune algorithm and Sphere-Tree approximations of the objects to perform the collision detection. Besides, we show how to compute the contact data for the narrow phase out of the overlapping leaf spheres from the Sphere-Trees. For collision response, we have implemented a simple, yet efficient and accurate, impulse-based method. A number of experiments in virtual scenarios with objects falling in a static plane were conducted. The results show that when Sphere-Trees with 2 levels are used for scenarios with a great number of objects (up to 200 falling objects) and simultaneous contacts among them (up to 16381.50 contacts at each frame on average), our system is capable of generating real time plausible rigid body animation, with always more than 30 frames per second (FPS) on average.