Wehn several objects are moved by general animation systems, there is a chance that they will interpenetrate. A mechanism for collision detection is necessary to prevent this undesirable state in animation system. On the other hand, a dynamic simulation system which is a part of animation system simulates realistic motions using dynamics after the collision, which is called collision response.
In this thesis, A method for reducing the CPU time for collisiondetection by removing redundant calculations and object sorting is proposed. Theoretical backgrounds and implementation details in different collison conditions are also presented for the collision response. A dynamic simulation system including collision detection and response function is implemented to demonstrate the proposed methods. Such input data as elasticity, friction, gravity, object shape, external force and external torque are given by the user. The system simulates motions of several objects using dynamics, and outputs realistic motion with wireframe display.
