Velocity-Aligned Discrete Oriented Polytopes for dynamic collision detection.

We propose an acceleration scheme for many-body dynamic collision detection at interactive rates. We use the Velocity-Aligned Discrete Oriented Politope (VADOP), a tight bounding volume representation that offers fast update rates and which is particularly suitable for applications with many fast-moving objects. The axes selection that determines the shape of our bounding volumes is based on spherical coverings. We demonstrate that we can robustly detect collisions that are missed by pseudo-dynamic collision detection schemes, with even greater performance due to substantial collision pruning by our bounding volumes.