Analysis of collision detection algorithms in haptic environments

The goal of this paper is to determine the applicability of collision detection packages for performing efficient collision calculations in haptic simulations. In this work we focus on boolean collision detection algorithms, which returns true if there is a collision or false if there are no collisions. We consider several scenarios which differ in the number of objects per scene and the number of vertices per object. We use graphical and statistical techniques to analyze the performance of each package and determine their usefulness in haptic simulations.