The use of Tetrahedra to Detect Collisions

We present an algorithm for collision detection by filling the free space between the objects involved. We compute the closest regions of a pair of objects, and update them during the running simulation. The algorithm is fast because the process depends on the number of neighbouring features of a vertex, the region, and not on all the features of the object. Furthermore, our algorithm is accurate because it deals directly with the features of the objects. This work deals with convex objects, and forms the first part of the general approach for deformable objects.