Intrinsic Continuous Collision Detection for Deformable Meshes

We propose an architecture for the intrinsic collision detection unit to perform collision detection for deformable triangular meshes, accurately, robustly and efficiently. We adopt a cache scheme which greatly improves the feature (e.g. point, edge and triangle) collision detection and thus improves the overall collision detection process. Our method handles numerical errors appropriately. Therefore, it accurately reports all the first contact points and collision information. Moreover, the method tracks collision orientations inherently so that proper action can be taken in order to avoid inter-penetrations. This method suits to meshes in a highly contact virtual environment in which the number of contact points is large. We illustrate an example of the applications of the method in cloth simulation.