Sphere encapsulated oriented-discrete orientation polytopes (S-dop) collision culling for multi-, rigid body dynamic

This paper discusses on sphere encapsulated oriented-discrete orientation polytopes (therefore will be referred to as S-Dop) collision culling for multiple rigid body simulation. In order to improve performance of the whole simulation system, there are available options in sacrificing the accuracy over speed by using certain approximation techniques. The aim of this research is to achieve excellent performance through implementation of suitable culling technique, without jeopardizing the resulting behavior so that the simulation will still be physically plausible. The basic idea is to identify the highly probable pairs to collide and test the pair with a more accurate collision test in broad-phase collision detection, before the pair is passed to a more costly stage. Results from the experiments showed that there are a number of ways to implement the sphere encapsulated or-Dops (S-Dop) collision culling on a multiple rigid body simulation depending on the level of performance needed