Efficient Collision Determination for Dynamic Scenes using Coherent Separating Axis

We present an efficient algorithm for collision determination of dynamic objects undergoing rigid motion or general deformation. Our technique deals with triangulated models, and it requires no further assumption of the objects’ geometry and topology. Particularly, it efficiently handles non-convex, or even polygon-soup models, enduring any deformation process. Furthermore, it requires no complex pre-processing, making it suitable for dynamic settings such as games or production line simulation. The proposed technique is based on a dynamic binary space partitioning process, which is accelerated by a temporal coherent separating axis algorithm. For stable contact determination of complex geometry, we first obtain a velocity-related penetration vector pair for every intersected triangle pair by tracing the movement on the separating axis, then propagate the process to the whole contact region. Our method shows realtime performance and good stability for moderate complex environment.