Object transformations
Broad phase
collision
detection
Overlapping objects
Mid phase
(object against
object)
Simulation
Colliding
pairs
Collision
response
Narrow phase
(primitives or
convex parts)
A
B
D
C
G
E
F
0
1
4
5
2
3
6
7
8
9
12
13
10
11
14
15
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
a)
b)
r
n
h
z
π
y
x
p0
p0
c)
d)
π´
π
t
p0
e
π
e
p0
A
p1
p0
w0
w1
w0
E
C
w1
B
n
D
ωB
B
vA
A
vB
d
rA
ωA
rB