Collision detection in motion simulation

This paper describes a method of detecting collisions in motion simulation. In motion simulation, objects occasionally share a sphere in the simulated world. This would not occur in the real world, since objects would have collided before they shared a common sphere. In order to avoid such sharing and to accurately simulate collisions, a collision detection method called the Space Occupancy Method is proposed here, in which the detection of collisions between free form objects in 3-D space can be made quickly and precisely. An implementation design of the collision detection method and some results of simulations are shown.