关键词: 碰撞检测, 球包围盒, 有向包围盒（OBB）

Abstract: The problems of collision detection between two or more geometric models in static and dynamic environments are fundamental in computer graphics.Bounding volume hierarchy has proved to be the most successful in contemporary systems.This research presents an efficient algorithm for collision detection using a dual bounding hierarchy which consists of an Oriented Bounding Boxes（OBB） tree enhanced with bounding sphere.This algorithm combines the compactness of the OBBs with the efficient overlap test for spheres.More efficient sphere test is applied first to eliminate distant objects.The remaining objects in close proximity are tested using separation axis.Some separation axes are more effective and should be chosen first.The approach is applied to the acupuncture medical treatment systems，and the experimental results show that the new algorithm effectively reduces the query time and enhances the reality character.

Key words: collision detection, sphere, Oriented Bounding Boxes（OBB）