Collision detection is an integral component of rigid body dynamic simulation. We have developed a continuous collision detection algorithm to ensure that contacts are not missed, even when large step sizes are taken. Our method's running time compares favorably to existing continuous collision detection schemes that only approximate the motion of the bodies.

Relevant publication:

• Dylan Shell and Evan Drumwright. "Precise Generalized Contact Point and Normal Determination for Rigid Body Simulation". Proc. of the 24th ACM Symp. on Applied Computing (SAC). Honolulu, 2009. (to appear)