A Fast Collision Detection Method Using Modified Depth Peeling

Abstract

We propose a fast collision detection method that uses graphics hardware and includes self-collision and self-collision and deformable objects as its targets. The method uses a layered depth image (LDI), which is generated by depth peeling, and transform feedback. We modify the depth peeling method so that it can peel object surfaces exactly and uses LDI representations for fast collision detection. In addition, transform feedback makes the collision detection process very fast since there is no need to read back from the GPU to the CPU. The proposed method was implemented in a PC having an NVIDIA GeForce 9800 GT graphics card and applied to two objects consisting of 10,000 triangles in total at an image-space resolution of 400 × 400 pixels. As a result, the collision detection time was about 24 ms with 96% detection.