ABSTRACT
After a high-level system has ruled out as many objects as possible from further collision tests, all collision systems must perform low-level tests between primitives or bounding volumes to determine intersection status. In some cases, a simple indication whether there is an intersection is sufficient. In other cases, the actual point of intersection is required. This chapter describes how these low-level tests can be efficiently performed. In addition, the goal is to provide enough specific mathematical detail to allow derivation of tests that go beyond the scope of this presentation, using the mathematical ideas examined here.
