关键词: 可变形物体, 碰撞检测, 粒子, 三角面片, 最短距离

Abstract: This paper presents an algorithm of particle-based precise collision detection for deformable object.Firstly，LBG vector quantization is applied for partitioning objects’ surface into several areas.Each area is then assigned with a particle.When two objects are approaching each other，get a pair of the closest particles.In order to detect precise collision position，it needs to calculate the minimum distance between the corresponding triangles of the closed particles on neighboring object.If the minimum distance is shorter than some value，then collision between objects occurs in the closest point on the corresponding triangles.The experiments show that the algorithm is suitable for deformable objects collision detection in haptic interaction simulation.

Key words: deformable object, collision detection, particle, triangle mesh, minimum distance