OBB Tree - Collision Detection

An OBB Tree is a hierarchical data structure of Oriented bounding Boxes(OBB) used in jME for triangle accurate collision detection. It consists of a hierarchy of tight fitting bounding boxes, used to minimize the running time to do fine grain collision detection.

• A Hierarchical Structure for Rapid Interference Detection [PDF]

We present a data structure and an algorithm for efficient and exact interference detection amongst complex models undergoing rigid motion. The algorithms applicable to all general polygonal models. It pre-computes a hierarchical representation of models using tight-fitting oriented bounding box trees (OBBTrees). At runtime, the algorithm traverses two such trees and tests for overlaps between oriented bounding boxes based on a separating axis theorem, which takes less than 200 operations in practice. It has been implemented and we compare its performance with other hierarchical data structures. In particular, it can robustly and accurately detect all the contacts between large complex geometries composed of hundreds of thousands of polygons at interactive rates.