Fast collision detection between complex solids using rasterizing graphics hardware

We present an efficient method for detecting collisions between complex solid objects. The method features a stable processing time and low sensitivity to the complexity of contact between objects. The algorithm handles both concave and convex objects; however, the best performance is achieved when at least one object is convex in the proximity of the collision zone (our techniques check the required convexity property as a byproduct of the calculations). The method achieves real-time performance when calculations are supported by the standard functionality of graphics hardware available on high-end workstations.