Interactive continuous collision detection for non-convex polyhedra

We present a highly interactive, continuous collision detection algorithm for rigid, general polyhedra. Given initial and final configurations of a moving polyhedral model, our algorithm creates a continuous motion with constant translational and angular velocities, thereby interpolating the initial and final configurations of the model. Then, our algorithm reports whether the model under the interpolated motion collides with other rigid polyhedral models in environments, and if it does, the algorithm reports its first time of contact (TOC) with the environment as well as its associated contact features at TOC.