Fan, WenshanWang, BinPaul, Jean-ClaudeSun, JiaguangMario Botsch and Scott Schaefer2015-02-272015-02-2720111467-8659https://doi.org/10.1111/j.1467-8659.2011.02019.xWe present a novel hierarchical grid based method for fast collision detection (CD) for deformable models on GPU architecture. A two-level grid is employed to accommodate the non-uniform distribution of practical scene geometry. A bottom-to-top method is implemented to assign the triangles into the hierarchical grid without any iteration while a deferred scheme is introduced to efficiently update the data structure. To address the issue of load balancing, which greatly influences the performance in SIMD parallelism, a propagation scheme which utilizes a parallel scan and a segmented scan is presented, distributing workloads evenly across all concurrent threads. The proposed method supports both discrete collision detection (DCD) and continuous collision detection (CCD) with self-collision. Some typical benchmarks are tested to verify the effectiveness of our method. The results highlight our speedups over prior algorithms on different commodity GPUs.I.3.5 [Computer Graphics]Computational Geometry and Object ModelingGeometric algorithmslanguagesand systems