Efficient collision detection based on AABB trees and sort algorithm

Efficient collision detection is a fundamental and very challenging problem in real-time surgery simulation. This paper presents a novel collision detection algorithm to detect collision and self-collision, between complex models undergoing rigid motion and deformation. The algorithm relies on a hierarchical model representation using axis-aligned bounding boxes (AABBs) and sort algorithm. Two main advantages of this algorithm is showed: (a) apply layer-by-layer intersection test based on AABB tree rather than traversing binary tree. (b) apply lots of AABBs sorting instead of one to one test. This algorithm reduces the time complexity of collision detection performed.