Apparatus for detecting the collision of moving objects

Abstract

An apparatus for detecting the collision of objects including a moving object includes a face information memory for storing face information describing the surfaces of each object; hierarchical sphere model generator for modeling the surfaces of each object by hierarchically covering the surfaces with spheres having various radii on the basis of the face information; sphere model memory for storing the positions of the modeled spheres generated; sphere position updater for updating the position of each modeled sphere having various radii with respect to the moving object and outputting the updated position; and sphere collision computer for executing procedures in which mutually colliding spheres are detected on the basis of the positions of the modeled spheres concerning two of the objects generated at an arbitrary time and stored in the sphere model memory and colliding spheres among spheres belonging to the mutually colliding spheres and having a smaller radius are further detected with respect to only the spheres determined to collide with each other, and for determining the collision of the two objects with each other when finally mutually colliding spheres having the smallest radius are present. The procedures are executed hierarchically and consecutively starting with spheres having a large radius toward spheres having a smaller radius.