An adaptive spatial subdivision of the object space for fast collision detection of animated rigid bodies

Collision detection tests between objects dominate run time simulation of rigid body animation. Traditionally hierarchical bounding box tests are used to minimize collision detection time. But the bounding boxes do not take shapes of the objects into account which results in a large number of collision detection tests. We propose an adaptive spatial subdivision of the object space based on octree structure to rectify this problem. We also present a technique for efficiently updating this structure periodically during the simulatio