Simon PabstArtur KochWolfgang Strasser2015-02-232015-02-232010https://diglib.eg.org/handle/10.2312/CGF.v29i5pp1605-1612https://diglib.eg.org/handle/10.2312/CGF.v29i5pp1605-1612We present a new hybrid CPU/GPU collision detection technique for rigid and deformable objects based on spatial subdivision. Our approach efficiently exploits the massive computational capabilities of modern CPUs and GPUs commonly found in off-the-shelf computer systems. The algorithm is specifically tailored to be highly scalable on both the CPU and the GPU sides. We can compute discrete and continuous external and self-collisions of nonpenetrating rigid and deformable objects consisting of many tens of thousands of triangles in a few milliseconds on a modern PC. Our approach is orders of magnitude faster than earlier CPU-based approaches and up to twice as fast as the most recent GPU-based techniques.10.1111/j.1467-8659.2010.01769.x1605-1612