Abstract
We present an accurate and robust algorithm for self-collision detection in deformable models. Our method is based on the normal cone test and is suitable for both discrete and continuous collision queries on triangular meshes. We propose a novel means of employing surface normal cones and binormal cones to perform the normal cone test. Moreover, we combine our culling criteria with bounding volume hierarchies (BVHs) and present a hierarchical traversal scheme. Unlike the previous BVH-based dual-cone method, our method can reliably detect all self-collisions, and it achieves appreciable speedup over other high-level culling methods.
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