Un detector de colisiones jerárquico basado en esferas exteriores e interiores.

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