Real-time volumetric intersections of deforming objects

We present a new algorithm for the computation of volumetric intersections of geometrically complex objects, which can be used for the efficient detection of collisions. Our approach requires neither expensive setup nor sophisticated spatial data structures and is specifically suitable for handling deformable objects with arbitrarily shaped, closed surfaces. The algorithm employs a Layered Depth Image (LDI) decomposition of the intersection volume. Currently, we have implemented two types of collision queries. The first one comprises an explicit representation of the intersection volume. The second one computes vertex-in-volume tests. All queries are processed on the LDI-based representation of the intersection volume. Our algorithm is very easy to implement and can be accelerated in graphics hardware by using OpenGL.