Borro, D.Garcia-Alonso, A.Matey, L.2015-02-192015-02-1920041467-8659https://doi.org/10.1111/j.1467-8659.2004.00002.xThis paper describes a Collision Method for massive virtual environments composed of millions of triangles. It has been applied in the aeronautics industry for maintainability simulations using virtual aircraft engine mock-ups. The method performs well and has a good interactive frame rate even when it is used for computing force feedback with haptic devices. Space sorting problems chiefly related to voxel techniques, such as memory requirements and optimal voxel size, have been solved. We use advanced memory structures and hashing techniques. To find the optimal voxel size, several analytical solutions have been proposed and compared. These solutions are based on the performance cost function of the algorithm used. Experiments have been undertaken to verify these analytical solutions.10.1111/j.1467-8659.2004.00002.x13-23