Real-time Collision Detection and Response using Sphere-trees

Abstract

In this paper we address the problem of collision detection and response in real-time animation systems. We describe an approach, which approximates objects using sphere-trees, and uses an interruptible detection algorithm to approximately test for collisions between them, trading accuracy for speed. A model of human visual perception of collisions is used to decide which collisions deserve more processing time. Collision processing is then scheduled to minimise the perceived inaccuracy within the time available. In response to such approximate collisions, a new adaptive collision response algorithm is presented, which also uses sphere-trees to approximate the appropriate response for colliding objects.