Collision detection: A survey

TLDR

Collision detection determines whether two or more bodies touch and is essential in computer graphics, surgical simulations, and robotics. The paper reviews the most common collision detection methods and classifies the literature into broad‑phase and narrow‑phase categories. The authors explain existing algorithms, aiming for clarity and depth while keeping sections self‑explanatory.

Abstract

A process of determining whether two or more bodies are making contact at one or more points is called collision detection or intersection detection. Collision detection is inseparable part of the computer graphics, surgical simulations, and robotics. There are varieties of methods for collision detection. We will review some of the most common ones. Algorithms for contact determination can be grouped into two general parts: broad-phase and narrow-phase. This paper provides a comprehensive classification of a collision detection literature into the two phases. Moreover, we have attempted to explain some of the existing algorithms which are not easy to interpret. Also, we have tried to keep sections self-explanatory without sacrificing depth of coverage.