A Simple Filtering Algorithm for Continuous Collision Detection Using Taylor Models

A huge number of potentially colliding triangles go to the succeeding narrow stage of continuous collision detection, even though a broad culling technique such as bounding volume hierarchies is applied. This heavily burdens the elementary collision tests in a collision detection algorithm and affects the performance of the entire pipeline, especially for fast moving or deforming objects. We present a low-cost filtering algorithm using Taylor Models. The experiments show that our algorithm can significantly reduce the number of elementary collision tests that occur in the narrow stage of collision detection.