12-Collision_Detection

COLLISION DETECTION PIPELINE

Collision detection can be a very time-consuming process. Fortunately there is plenty of room for improvement. The two key problems—having too many possible collisions and having expensive checks—have independent
solutions. To reduce the number of checks needed, we can use a two-step process.

• First we try to find sets of objects that are likely to be in contact with one another, but without being too concerned about whether they actually are. It is called coarse collision detection.
• Then a second chunk of code looks at the candidate collisions and does the check to determine whether they actually are in contact. This is fine collision detection. Objects that are in contact are examined to determine exactly where the contact is on each object (needed for rigid bodies), and the normal of collision. This is sometimes called contact generation, and the results can form the input to the physics engine.

使用包围盒，球体，或者八叉树等求解碰撞检测