The honeycomb-shaped spatial decomposition collision detection algorithm

At present, most of the image-based collision detection algorithms must take the convex polyhedrons as the premise. For all the concave polyhedrons, before in using of the image-based collision algorithms, it is necessary to be decomposed into the convex polyhedrons firstly. In this paper, an improved image-based collision algorithm for a detailed CD between a pair of polyhedrons based on the contour of projection and the honeycomb-shaped spatial decomposition is presented. The nature of the polyhedrons considered can be convex polyhedrons or concave polyhedrons.