Kinetic Sweep and Prune for Multi-Body Continuous Motion

We propose an acceleration scheme for real-time many-body dynamic collision de-tection. We kinetize the sweep and prune method for many-body collision pruning, extending its application to dynamic collision detection via kinetic data structures. In doing so, we modify the method from sample-rate driven to event-driven, with no more events than the original method processed, also removing the per-frame overhead, allowing our method to scale well in terms of frame-rates. Unlike many schemes for many-body collision pruning, ours performs well in both sparse and dense environments, with few or many collisions. Key words: Methodology and Techniques–Graphics data structures and data types; Three-Dimensional Graphics and Realism-Virtual reality; Dynamic collision detection; Kinetic data structure