Concave Mesh Collision Detection Solutions

For maximum precision in real-time concave mesh collision detection with a limited number of objects, here are some recommended approaches and libraries:

Approaches

1. Bounding Volume Hierarchies (BVH) - Organize mesh triangles in a tree structure for efficient collision queries
2. Separating Axis Theorem (SAT) - Extended for concave shapes by decomposing into convex parts
3. GJK/EPA Algorithms - For distance computation and penetration depth
4. Spatial Partitioning - Grid or octree structures to accelerate broad-phase collision detection

Recommended Libraries

Bullet Physics

CPPCopied
// Example of using Bullet for concave mesh collision
btTriangleMesh* mesh = new btTriangleMesh();
// Add triangles to the mesh
for (int i = 0; i < numTriangles; i++) {
    mesh->addTriangle(vertex1, vertex2, vertex3);
}

btBvhTriangleMeshShape* concaveShape = new btBvhTriangleMeshShape(mesh, true);

PhysX

Provides high-precision concave mesh collision with good performance characteristics.

CGAL

For maximum mathematical precision, though with higher computational cost:

CPPCopied
#include <CGAL/Exact_predicates_exact_constructions_kernel.h>
#include <CGAL/AABB_tree.h>
#include <CGAL/AABB_traits.h>
#include <CGAL/AABB_triangle_primitive.h>

typedef CGAL::Exact_predicates_exact_constructions_kernel K;
typedef K::Point_3 Point;
typedef K::Triangle_3 Triangle;
// Set up AABB tree for efficient intersection tests

Open Dynamics Engine (ODE)

Good balance between precision and performance for real-time applications.

Performance Optimization Tips

1. Use a two-phase collision detection approach:

   • Broad phase: Quick rejection of non-colliding pairs using bounding volumes
   • Narrow phase: Precise collision detection on potentially colliding pairs

2. Consider mesh simplification for complex objects where absolute precision isn't critical

3. Implement temporal coherence to take advantage of frame-to-frame consistency

Since you mentioned having only a few objects with limited polygons, any of these solutions should provide good real-time performance while maintaining high precision.