Collision Detection for Animation using Sphere-Trees

Abstract

The detection of collisions between moving polyhedral objects is one of the most computationally intensive tasks in the computer animation process. The use of object-oriented techniques to encapsulate data within the objects structures compounds this problem through the requirement for inter-object message passing in order to obtain geometric information for collision detection. The REALISM system decreases the time for collision detection by using a three stage process. The first stage identifies objects in the same locality using a global bounding volume table. The second stage locates regions of possible collision using a sphere-tree data structure (a hierarchical tree of spheres based on octree-type spatial subdivision). The final stage finds intersections between polygonal faces of the objects that are contained within the intersecting pairs of leaf nodes. Hence the algorithm uses a spherical geometry approximation rapidly to locate regions of potential collisions and then uses a local intersection test with actual object geometry information. The system is therefore fast and accurate. Tests for various geometric objects support this and show performance improvements of jive times over traditional polyhedral intersection tests.