A data structure for analyzing collisions of moving objects

Computer systems that simulate dynamic systems of bodies require the detection and analysis of collisions between moving bodies. For a restricted class of parameterized objects, collision detection is relatively simple. However, when a simulation system uses a solid modeler data with arbitrarily complex topology, detecting collisions efficiently between two moving objects becomes difficult. The author presents a new data structure for analyzing the spatial relationship of two objects. Given the objects as boundary representations (B-reps), a spatial index is constructed for the B-reps which allows fast edge and vertex classifications to be performed. He also presents ways of analyzing the collisions points and resolving ambiguities.