Detecting Self-Collisions using a hybrid bounding volume algorithm

A discrete collision detection algorithm to detect self-collisions between deformable objects is presented, this is built up using a bounding volume hierarchy (BVH) and a Feature-based method. The deformations are represented by the features of the mesh, which are within the bounding volumes and consequently the updating time for the BVH is reduced. The algorithm compares the minimum bounded geometry, the 1-ring, with the other spheres of the hierarchy in order to cull away bounding volumes (BV) that are far apart. The 3D objects utilised are surface-based and are deformed by warping, control points of splines, and a mass-spring model