OBBTree: a hierarchical structure for rapid interference detection
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3D game engine design: a practical approach to real-time computer graphics
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Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
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Hierarchical Spatial Hashing for Real-time Collision Detection
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Fast continuous collision detection using deforming non-penetration filters
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Fast continuous collision culling with deforming noncollinear filters
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Radial view based culling for continuous self-collision detection of skeletal models
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Dynamic radial view based culling for continuous self-collision detection
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Computers and Graphics
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We present a novel culling algorithm to perform fast and robust continuous collision detection between deforming volume meshes. This includes a continuous separating axis test that can conservatively check whether two volume meshes overlap during a given time interval. In addition, we present efficient methods to eliminate redundant elementary tests between the features (e.g., vertices, edges, and faces) of volume elements (e.g., tetrahedra, hexahedra, triangular prisms, etc.). Our approach is applicable to various deforming meshes, including those with changing topologies, and efficiently computes the first time of contact. We are able to perform inter-object and intra-object collision queries in models represented with tens of thousands of volume elements at interactive rates on a single CPU core. Moreover, we observe more than an order of magnitude performance improvement over prior methods.