RAY-TRACED COLLISION DETECTION FOR DEFORMABLE BODIES

This paper presents a new approach to collision detection and modeling between deformable volumetric bod- ies. It allows deep intersections while alleviating the difculties of distance eld update. A ray is shot from each surface vertex in the direction of the inward normal. A collision is detected when the rst intersection be- longs to an inward surface triangle of another body. A contact force between the vertex and the matching point is then created. Experiments show that this approach is fast and more robust than traditional proximity-based collisions.