A Unified Discrete Collision Framework for Triangle Primitives

Abstract We present a unified, primitive‐first framework with DCD for collision response in physics‐based simulations. Previous methods do not provide sufficient solutions on a framework that resolves edge‐triangle and edge‐edge collisions when handling self‐collisions and inter‐object collisions in a unified manner. We define a scalar function and its gradient, representing the distance between two triangles and the movement direction for collision response, respectively. The resulting method offers an effective solution for collisions with minor computational overhead and robustness for any type of deformable object, such as solids or cloth. The algorithm is conceptually simple and easy to implement. When using PBD/XPBD, it is straightforward to incorporate our method into a collision constraint.