An Adaptive Spherical Collision Detection and Resolution Method for Deformable Object Simulation

Collision detection and resolution are of great importance to physically based animation. Realtime responses are essential for many applications, which largely rely on the efficiency of localising the potentially colliding geometry and calculating the polygon intersections. It is an extremely heavy computation task using the existing polygon based methods, especially for deformable objects. To improve this issue, we present an implicit circumsphere based collision detection and resolution method for deformable objects which takes into consideration both local geometry features and the material properties. Our method approximates the mesh in question with an implicit circumsphere surface, which is used to perform finest level collision detection and resolution instead of the original polygonal mesh. The dynamic deformation as a result of collision is determined by both the geometry and the material properties of the surface. Due to the simplicity of sphere overlap test, our method is not only computationally efficient, but also stable and comparatively accurate, outperforming the existing methods in overall performance. Our implicit circumsphere method can also provide better prevention to collision tunnelling than existing methods. Besides, this method is compatible with all existing broad phase and narrow phase collision query techniques.