GKJ and clustering based algorithm for collision detection on deformable body

This paper proposed a collision detection method for deformable body based on clustering algorithm and GKJ algorithm. This method first divide triangle meshes into convex hulls formed by multiple clusters; then utilizes GJK algorithm to solve the convex hull collision detection problem. The proposed method can increase detection efficiency, solve penetration problem, which happens when one body is small compared with triangle mesh, and provide freedom to set collision detection precision. Real-world applications provided feasibility and reliability of using this method in solving deformable body-to-body multi-points collision detection problems. It is valuable for researches in fields including 3D gaming, visual reality, physical simulation and others.