A fast continuous collision detection algorithm based on K_DOPs

In order to achieve fast and accurate collision detection of rigid body, this paper presents a continuous collision detection algorithm based on interval interpolation and static KDOPs detection technique. This algorithm uses interval interpolation technique to obtain the polygonal lines which approximate the motion trajectory of rigid bodies, and then conducts the collision detection during the movement of the polygonal line. In the end a dynamic detection of basic elements is performed on the triangle during the movement of the smallest polygonal lines. The result of the experiment shows that the algorithm can efficiently avoid the collision misses and penetration caused by the discrete detection algorithm, and high accuracy and performance are achieved.