Animation Based in Dynamic Simulation Involving Irregular Objects with Non-Homogeneous Roughness

We propose a new technique that provides a unified framework for modeling the collision dynamics of objects having arbitrary shape and roughness. The technique assumes that boundary of the object is expressed by elementary segments with some random distribution of perturbation. Collision detection and treatment is done considering this conceptual representation. In order to efficiently detect collision between irregular objects, we introduce the aumented oriented bounded box tree.