关键词: 哈希, 碰撞检测, 空间剖分, 基于物理仿真

Abstract: Tescher presents collision detection based on OSH.This algorithm has been used in many situations about mapping couple for validity.But Tescher uses a barycenter coordinate weight value to detect collision.It limits collision respond that this algorithm can’t measure depth and normal of contact.A method is presented based on SDM to measure penetrating parameters，through adding penalty force to offer collision respond，ensuring distance，area and volume preservation.Consequently，a valid collision detection environment is constructed based on OSH.

Key words: Hashing, collision detection, spatial subdivision, physics-based simulation