Real-time collision detection and response for complex environments

Presents a method for collision detection that is well suited to complex environments, such as those obtained from medical imaging and for objects that are in permanent contact. The method is based on a point-in-tetrahedral-mesh query. Spatial and temporal coherence are used to achieve interactive speed. In addition to collision detection, the system calculates a force and torque that can be used for collision response. Experimental results show that it performs well compared to the RAPID (Robust and Accurate Polygon Interference Detection) collision detection library, which is a standard in the field