Abstract
An algorithm for calculating the minimum distance between non-convex polyhedra is described. A polyhedron is represented by a set of triangles. In calculating the distance between two polyhedra, it is important to search efficiently the pair of the triangles which gives the pair of closest points. In this paper discrete Voronoi regions are prepared as voxels around non-convex polyhedra. Each voxel is given a list of triangles which have possibility to be closest to the voxel. When a triangle on the other object is intersecting a voxel, the closest triangles can be efficiently searched from this list. The algorithm has been implemented, and the results of distance computations show that it can calculate the minimum distance between non-convex polyhedra composed of a thousand of triangles at interactive rates.
