High-Performance Collision Detection Hardware
Günter Knittel, Gabriel Zachmann · 2003
We present a novel hardware architecture for a single-chip collision detection accelerator and algorithms for efficient hierarchical collision. We use a hierarchy of k-DOPs for maximum performance. A new hierarchy traversal algorithm and an optimized triangle-triangle intersection test reduce bandwidth and computational costs. The resulting hardware architecture can process two object hierarchies and identify intersecting triangles autonomously at high speed. Real-time collision detection of complex objects at rates required by force-feedback and physically-based simulations can be achieved even in worst-case configurations.