Abstract
A model for collision detection based on double hierarchical spherical representation is proposed in this paper: anouter spherical representation for detecting no-intersections and an inner spherical representation in order to improvethe performance of the collision detector. The algorithm has been implemented. Several tests were conducted withconvex polyhedral and the performance of the algorithm was evaluated in terms of the collision between innerspheres. The experimental results show that outer spheres have been useful to determine lack of intersection, whereasinner spheres are more efficient for detecting existence of intersection and for speeding up the process of detectingcollision. Using inner spheres improve the general performance because it reduces the number of intersection testsbetween the faces of the polyhedral.
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