R.: Multi-core collision detection between deformable models

We present a new parallel algorithm for interactive and con-tinuous collision detection between deformable models. Our algorithm performs incremental hierarchical computations between successive frames and parallelizes the computation among multiple cores on current CPUs. The main compu-tations include front building and updating and performing the elementary tests between the triangle primitives. The overall algorithm can perform inter- and intra-object colli-sions at interactive rates on current commodity processors on models with many tens of thousands of triangles. In prac-tice, the performance of our algorithm almost scales linearly with the number of cores