Quick Elimination of Non Interference Polytopes in Virtual Environments

The problem of collision detection is fundamental to interactive appli cations such as computer animation and virtual environments In these elds prompt recognition of possible impacts is important for computing real time response However existing algorithms do not eliminate non interfence objects e ciently This paper presents a practical algorithm to quickly eliminate most non interference convex polyhedra when their bounding boxes overlap The idea is to search for a proper separating plane between two polyhedra and cache this plane as a witness for the next time step Temporal and geometric coherences are exploited in this algorithm so that it runs in expected constant time