Convex partitions of polyhedra: a lower bound and worst-case optimal algorithm
SIAM Journal on Computing
Collision Detection for Moving Polyhedra
IEEE Transactions on Pattern Analysis and Machine Intelligence
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
Interactive continuous collision detection for non-convex polyhedra
The Visual Computer: International Journal of Computer Graphics
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Modeling contact for rigid body simulation requires accurate determination of time of contact, contact points, and contact normals. Existing collision detection methods for rigid body simulation can be grouped into one of three categories: convexity-based discrete methods, a posteriori discrete methods, and continuous methods. Our proposed method combines the advantages of all three types: operating on arbitrary geometric representations, running in asymptotic linear time in the number of polyhedral features, having a parameterizable precision (a variation is guaranteed to miss no collisions), and avoiding simplex/simplex tests that are difficult to implement robustly. The algorithm is demonstrated on a pathological example involving both polyhedra and polygon soups.