Separating-Axis Calculation of Motion Path for Continuous Collision Detection of Convex Polyhedrons

This paper presents a new linear continuous collision detection algorithm for convex polyhedrons,which employs separating-axis calculation of motion path based on Gilbert-Johnson-Keerthi distance algorithm（GJK）.First,the algorithm utilizes the supporting point and projection technology to remove those objects that can not be collided in order to speed up the collision detection.Then,the convex hull that is calculated with Minkowski difference set between two possible collision convex objects and the one-dimensional simplex constructed by a relative motion path are implemented with the GJK separating-axis algorithm to complete the collision detection in the entire time interval immediately.Finally,by means of solving the intersection between the hyper-plane and the ray based on a geometric method,the nearest intersection point of the hyper-plane and the ray from a convex object’s boundary can be calculated.The first collision position is determined and the moving object’s location is adjusted to complete the process of collision response.The proposed algorithm does not require constructing a swept body and intersection calculations between convex polyhedrons in continuous detection process.The proposed algorithm has been applied to the continuous collision detection among oriented bounding boxes.The experimental results and analysis show that this algorithm has high detection accuracy and response speed.