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Line-Triangle Test for Collision Detection and Response in Soft Bodies

Soft-body models are common in games to simulate cloth or elastic objects. To realistically simulate soft-body objects, collision detection and response is required. In addition, soft-body models must re-arrange their internal structure to react to the collision. This paper presents a new collision detection and response algorithm which can simulate a variety of soft-body material behaviors ranging from stiff to elastic. In this approach, a line-triangle intersection test is used for collision detection and force propagation is used for collision response. Implementation and experiments using the algorithm show that complex deformable objects composed of thousands vertices can be animated at interactive speeds.