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This paper discusses improvements to the numerical robustness of thealgorithm described in Kasper Fauerby's "Improved Collision Detection andResponse." The algorithm addresses a common collision detection query: a movingsphere or ellipsoid vs. a set of motionless triangles. In its current form, thealgorithm allows the sphere to penetrate the triangles. The sphere alsodisplays "jittering" behavior when colliding with certain geometry. Most ofthese problems are the product of insufficient attention to numericalrobustness, the focus of this paper. Motivated by the importance of numericalrobustness in collision detection code, this paper addresses these problems indetail and proposes efficient solutions to them.

Improving the Numerical Robustness of Sphere Swept Collision Detection