Efficient and exact collision detection is very important to improving reality and enhancing immersion in virtual environment. A fast algorithm for computing the minimum distance between two convex polyhedra is presented. Any polyhedral objects can be represented as convex hulls of its vertex value in three-dimensional space. The vertex representation of the convex polyhedral is used to calculate the distance between two static convex objects. The algorithm transform the collision detection problem into non-linear programming problem of computing the minimum distance between two objects, and t...
