
388 Virtual Reality: Concepts and Technologies
Figure 17.3 Problem of detection in case of a division into convex parts
objects into convex parts, but in that case, the results obtained can have some lacunas.
For example, in figure 17.3, we obtain several overlap measurements, depending on
the decomposition we select. In an application that is looking for a global character-
isation of the collision (for example by a translation separating the two objects), the
object division proves to be inadequate. Finding a separator plane requires determin-
ing parameters a, b, c and d of the equation of the plane so that ax + by + cz + d > 0
for all the vertices ...