Parallel Collision Detection in Constant Time
René Weller, Udo Frese, Gabriel Zachmann · Eurographics · 2013
We prove that the maximum number of intersecting pairs spheres between two sets of polydisperse sphere packings is linear in the worst case. This observation is the basis for a new collision detection algorithm. Our new approach guarantees a linear worst case running time for arbitrary 3D objects. Additionally, we present a parallelization of our new algorithm that runs in constant time, even in the worst case. Consequently, it is perfectly suited for all time-critical environments that allow only a fixed time budget for finding collision. Our implementation using CUDA shows collision detection at haptic rates for complex objects.