3D Voronoi Subdivision Tree for granular materials

We describe a method to simulate granular materials using a structure called a 3D Voronoi Subdivision Tree. The 3D Voronoi Subdivision Tree is a method to create interactive subdivided objects for a volume in a physics environment. A tree of 3D Voronoi cells is created from a convex object and the cells are subdivided at each level to the bottom-most children. We utilize and adapt this technique for granular materials to create a robust simulation environment. As such, this method creates dynamic granular materials that subdivide as needed based on interaction with other objects.