Continuous collision detection for adaptive simulation of articulated bodies

Sujeong Kim, Stephane Redon, Young J. Kim

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


We perform continuous collision detection (CCD) for articulated bodies where motion is governed by an adaptive dynamics simulation. Our algorithm is based on a novel hierarchical set of transforms that represent the kinematics of an articulated body recursively, as described by an assembly tree. The performance of our CCD algorithm significantly improves as the number of active degrees of freedom in the simulation decreases.

Original languageEnglish
Pages (from-to)261-269
Number of pages9
JournalVisual Computer
Issue number4
StatePublished - Apr 2008


  • Adaptive dynamics
  • Articulated body dynamics
  • Continuous collision detection
  • Interval arithmetic


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