A Large-scale Benchmark and an Inclusion-based Algorithm for Continuous Collision Detection

We introduce a large-scale benchmark for continuous collision detection (CCD) algorithms, composed of queries manually constructed to highlight challenging degenerate cases and automatically generated using existing simulators cover common cases. use the evaluate accuracy, correctness, efficiency state-of-the-art both with without minimal separation. discover that, despite widespread CCD algorithms are (1) correct but impractically slow; (2) efficient incorrect, introducing false negatives that will lead interpenetration; or (3) over conservative, reporting large number positives might inaccuracies when integrated in simulator. By combining seminal interval root finding algorithm introduced by Snyder 1992 modern predicate design techniques, we propose simple algorithm. This is competitive methods terms runtime while conservatively time impact allowing explicit tradeoff between reported.