基于K_DOPs快速连续碰撞检测算法

In order to detect the collision between rigid bodies accurately and rapidly, this paper present a continuous collision detection algorithm based on the interval technology and static detection techniques－K_DOPs. The algorithm calculate a broken line to approach the trajectories through interval technology, and then detect the collision during the rigid bodies running at the broken line. Finally using the dynamic detection technology to detect the collision between the triangles at the smallest broken line. Experiments show that the algorithm can effectively avoid the leaking-detection and running-through phenomenon, and having high accuracy and performance.