Many-body Collision Detection

Additionally, we present an event-based method for time-critical collision detection that meets real-time constraints by balancing and prioritizing computation spent on intersection tests without starvation. Our approach tests each potentially colliding pair of objects at a different frequency, with unbounded temporal resolution. We show that believability is preserved by adaptively prioritizing intersection tests to reduce errors in collision detection, using information about the objects and scene. Through the combination of kinetic sweep and prune and stride scheduling we continuously interleave rendering, broad phase collision pruning, narrow phase intersection testing, and collision response. This approach accrues no per-frame overhead and allows interruption at any point in collision detection, including the broad phase.