Fast continuous collision culling with deforming noncollinear filters

We present a novel culling algorithm that uses deforming non-collinear filters to improve the performance of continuous collision detection (CCD) algorithms. The underlying idea is to use simple and effective filters, deforming noncollinear filters (NCFs), that reduce the number of false positives between the primitives. These filters are derived from the collinear conditions and can be easily combined with other culling methods. We have tested its performance on several benchmarks. Compared with previous methods, we can reduce the number of false positives significantly and improve the overall performance of CCD algorithms, especially for simulations with large time steps.