ABSTRACT Many companies have started to investigate

Virtual Reality as a tool for evaluating digital mock-ups. One of the key functions needed for interactive evaluation is real-time collision detection. An algorithm for exact collision detection is presented which can handle arbitrary non-convex polyhedra efficiently. The approach attains its speed by a hierarchical adaptive space subdivision scheme, the BoxTree, and an associated divide-andconquer traversal algorithm, which exploits the very special geometry of boxes. The traversal algorithm is generic, so it can be endowed with other semantics operating on polyhedra, e.g., distance computations. The algorithm is fairly simple to implement and it is described in great detail in an “ftp-able ” appendix to facilitate easy implementation. Pre-computation of auxiliary data structures is very simple and fast. The efficiency of the approach is shown by timing results and two real-world digital mock-up scenarios