GPU-based collision detection between deformable objects

We present an efficient algorithm for real time collision detection between complex deformable objects with closed surfaces by using graphics hardware. The algorithm adopts an effective use of the rendering buffers and the occlusion query operation, and can also be applied to detect self-collision. Though our current algorithm has some limitations, it requires neither expensive preprocessing nor complex data structures and is directly applicable to all kinds of models which are ready to render. In contrast to most existing methods, the proposed algorithm is completely implemented in graphics hardware and does not perform time consuming framebuffer readbacks from GPU. This significantly improves the performance, especially in high image resolution.