Abstract
Collision detection is undoubtly the most time-consuming step in a dynamicsimulation engine. In theory, as the simulation evolves, every object needs to be checked for collisions against all other objects in the simulation. Whenever a collision is detected, the simulation engine needs to trace back in time to the instant before the collision, and determine the collision point and collision normal from the relative geometric displacement of the colliding objects.
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Coutinho, M.G. (2001). Hierarchical Representation of 3D Polyhedra. In: Dynamic Simulations of Multibody Systems. Springer, New York, NY. https://doi.org/10.1007/978-1-4757-3476-8_2
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DOI: https://doi.org/10.1007/978-1-4757-3476-8_2
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