Shape-Based Volumetric Collision Detection

In this paper, we describe a method to detect collisions between volumetric objects. A hierarchy of bounding spheres is computed from a volumetric object based on the distance transform. Multiple levels of bounding approximations to the volumetric object are automatically computed. The computation of bounding spheres is based on the shape of the object. Only those spheres which are essential to the description of the shape at a certain level of detail are included. This results in a tighter fitting bounding volume compared to existing methods for collision detection. Because of the tighter fit, we are able to use fewer spheres for collision testing at each level, thus decreasing computation time. Since our method is based on the shape of the object, the hierarchical spheres are determined for the first frame and can then animate along with the volumetric object.