
Chapter 17
Collision detection
Philippe Meseure and Abderrahmane Kheddar
Virtual environments include static scenes and moving objects. These mobile objects
are either manipulated by the user or animated by a behavioural simulation following
the rules of physics or the interpretation of animation scripts. For a “realistic’’ multi-
modal rendering, mainly in an interactive mode, the behaviour of the simulation and
hence that of the objects has to be credible for the operator’s perception. The possible
interpenetration of virtual objects, when they collide and when they interact, reduces
this realism. Moreover, in case of rigid objects, it was observed ...