Collision detection: models and algorithms

Abstract

Collision detection between several objects in a closed space is an interesting research topic in all those areas where objects must not penetrate one another, such as Computer Graphics, Computer Vision, Virtual Reality. In this paper, we review data structures that are useful for collision detection and several methods that treat the collision problem. The paper is focused on collision detection in complex systems with a large number of objects and specially centered in the first step algorithm (the broad stage) where relevant regions for collision are detected.