Methodology of performing narrow phase collision detection for virtual environment

Contact determination between near colliding objects is one of crucial issues in virtual environment simulation for nearly accurate collision detection system such as in medical simulation, computer games, and engineering visualization. The contact determination technique consists of distance computation, point of contact and depth penetration phase. It requires information of object direction toward another object that move towards another object that is in opposite direction; resulting in an intersection. The main problem is caused by complex calculations involved in distance approximation resulting speed and efficiency in collision reporting deterioration. The proposed technique starts by first identifying the nearest triangle of corresponding objects that is going to be intersected with another triangle that are bound with an Axis Aligned Bounding-Box (AABB) for whole object. Then, we need to find the parallel line distribution created by each axis of AABB for each triangle. Three sets of testing have been conducted to evaluate and verify the proposed technique with two other common techniques of Lin-Canny and GJK technique. This paper presented our methodology of our solution for computing a single phase collision detection instead of expensive two-phase collision detection algorithm.