Otaduy, Miguel A.Germann, DanielRedon, StephaneGross, MarkusDimitris Metaxas and Jovan Popovic2014-01-292014-01-292007978-3-905673-44-91727-5288https://doi.org/10.2312/SCA/SCA07/181-190Simulation of deformations and collision detection are two highly intertwined problems that are often treated sepa- rately. This is especially true in existing elegant adaptive simulation techniques, where standard collision detection algorithms cannot leverage the adaptively selected degrees of freedom.We propose a seamless integration of multi- grid algorithms and collision detection that identifies boundary conditions while inherently exploiting adaptivity. We realize this integration through multiscale bounding hierarchies, a novel unified hierarchical representation, together with an adaptive multigrid algorithm for irregular meshes and an adaptivity-aware hierarchical collision detection algorithm. Our solution produces detailed deformations with adapted computational cost, but it also enables robust interactive simulation of self-colliding deformable objects with high-resolution surfaces.Categories and Subject Descriptors (according to ACM CCS): I.3.5 [Computer Graphics]: Physic. based modeling