关键词: 碰撞检测，球体混合，单元四元组，球体重建

Abstract: Fast collision detection are necessary in order to resolve interactions between a virtual character and its environment. We presented a novel collision detection algorithm based on spherical blend skinning. A procedure was presented for refitting of bounding spheres for spherical blend skinning with sublinear time complexity. Constructed rotation bound by a quaternion. This refitting operation is an extension of the refitting for linear blending. Completed decomposes from spherical blending to linear by rotational component Although it is of course a little more difficult than in the linear case, the resulting algorithm is almost as easy to implement and the computation complexity of the presented algorithm is almost the same as that of the linear version.

Key words: Collision detection, Spherical blending, Unit quaternion, Spherical reconstruction