Future Work

3. No limitation on the topology of triangle mesh: In contrast to FAST, our method could be applied on polygon soups, not only 2-manifold models.

5.2 Future Work

Our method is to solve the problem of continuous collision detection for a pair of rigid bodies. Therefore, in order to apply our method to various kinds of dynamic simulations, there still needs some efforts to enhance our method. First, we would like to enhance our method to solve the problem of continuous collision detection for articulated bodies.

Although Each link of an articulated body is a rigid body, it needs an broad-phased collision pruning algorithm to avoid the collision checks of these pairs of links which could not collide. In the field of discrete collision detection, the problem has been extensively studied.

However, there still exists some issues for us to study in the field of continuous collision detection. Second, we would like to extend our method to multi-body collision detection.

This problem has been also extensively studied In the field of discrete collision detection, but it is a more complex problem in the field of continuous collision detection. Because an object could collide with several objects during a time interval, the simulation could be incorrect if we only detect the first collision of the object. There are some other issues for this enhancement to study. Finally, we would like to study whether our method could be extended to deformable body. To efficiently solve this problem, we have to update our BVH in an efficient way. To produce the inbetween motion of a deformable body is also another important issue.

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