Fast Continuous Collision Detection between Rigid Bodies

@article{Redon2002FastCC,
  title={Fast Continuous Collision Detection between Rigid Bodies},
  author={St{\'e}phane Redon and Abderrahmane Kheddar and Sabine Coquillart},
  journal={Comput. Graph. Forum},
  year={2002},
  volume={21},
  pages={279-287}
}
This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies. As opposed to most collision detection techniques, the computation of the first contact time between two objects is inherently part of the algorithm. The method can thus robustly prevent objects interpenetrations or collisions misses, even when objects are thin or have large velocities. The method is valid for general objects (polygon soups), handles multiple moving objects and acyclic articulated… CONTINUE READING
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