Dual b-rep-CSG collision detection for general polyhedra

While almost all collision detection algorithms have been linked to a particular object representation scheme, few attempts have been made using hybrid methods to exploit the advantages of multiple representations of objects. In this paper we present a collision detection algorithm based on a dual b-rep/CSG representation of concave polyhedra initially represented in b-rep. Our method naturally combines the use of bounding volumes, hierarchical subdivision, and space partitioning to perform the interference test