Abstract
We describe a system which efficiently simulates physical interactions between a large number of rigid bodies. The intersection tests are very time consuming but by using bounding box hierarchies, a detailed check can usually be avoided between most objects. A method using the automatic construction and maintenance of bounding volume hierarchies is presented which takes O( n log n) time for n objects. Previous methods have made some use of bounding volumes, but little mention of a hierarchy has been made. Using bounding volumes without a hierarchy gives rise to an O(n 2 ) intersection test.
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