Parallel algorithms for real-time colliding face detection

We propose parallel algorithms for detecting collisions among 3-D objects in real-time. First, a basic algorithm of serial version is described. It can detect potential collisions among multiple objects with arbitrary motion (translation and rotation) in three-dimensional (3-D) space. The algorithm can be used without modification for both convex and concave objects represented as polyhedra. This algorithm is efficient, simple to implement, and does not require any memory intensive auxiliary data structure to be precomputed and updated. Then, two parallel algorithms are proposed for MIMD multi-processors having a shared-memory; one uses a static and the other uses a dynamic method for proper load balancing. Experimental results demonstrate the performance of the proposed collision detection methods.