Process and device for collision detection of objects

A process for collision detection of objects in which for the objects first hierarchical binary bounding BoxTrees with axis-aligned bounding boxes in the respective object coordinate system and data are provided, from which a position of the objects in relation to each other is derivable, yielded by conducting a planned transformation step of at least one object, and then a simultaneous traversal of said bounding BoxTrees is conducted during which by means of an overlap check of said bounding boxes and of possible polygons contained therein, it is determined whether the objects will collide when conducting said transformation step,

• wherein bounding BoxTrees are provided in which each bounding box pair of a hierarchically lower level is derived from a bounding box from the immediately above level by means of cutting off two sub-volumes by means of two parallel cut-planes, and that for said collision detection of a first and a second object, for each second bounding box of the bounding BoxTree of said second object to be checked for overlapping with a first bounding box of the bounding BoxTree of said first object, an auxiliary bounding box is computed which is axis-aligned in the object coordinate system of said first object and encloses said second bounding box with minimal volume, and with which said overlap check is conducted instead with said second bounding box, with the computation results from the level immediately above being utilized for computation of auxiliary bounding boxes of lower levels.