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Particle-based forecast mechanism for continuous collision detection in deformable environments

Collision detection in geometrically complex scenes is crucial in physical simulations and real time applications. Works based on spatial hierarchical structures have been proposed for years. If correct performances are obtained for static scenes, these approaches show some limitations when the complexity of the scene increases and particularly in case of deformable meshes. The main drawback is the time needed to update the spatial structures - often trees - when global deformations or topological changes occur in the scene. We propose a method to detect collisions in complex and deformable environments with constant time amortized complexity for small displacements.
 Our method is based on a convex decomposition of the environment coupled with a forecast mechanism exploiting temporal coherence. We use the topological adjacencies and incidence relationships to reduce the number of geometrical tests. Deformations of the scenes are handled with no cost as far as no topological changes occur. Topological transformations, like cuts and sewings, are handled locally, exploiting the spatial coherence and do not imply global updates. We illustrate our method in two experimental frameworks: a particles flow simulation and a meshless animation system both lying in a deformable mesh. We compare our work with classical optimization based on bounding volumes hierarchies to validate its efficiency on large scenes.