Real-time CUDA based collision detection and physics based collision response simulation

To improve the physical realism and guarantee the simulation efficiency in virtual surgery, we propose a real-time method to detect collisions and conduct collision response simulation based on an improved physical model. To guarantee the real-time efficiency, we design CUDA accelerated collision detection algorithm based on space subdivision, and calculate the intrusion depth of collision units to further reduce computation cost in the narrow phase. We improve the physical realism by introducing geometry information into penalty force calculation to better satisfy the Newton's third law, which can simultaneously retain the advantages of the punishment force method, such as easy calculation, high response speed, etc. We demonstrate the superiority of our method by performing extensive comparison with punishment force method and state-of-the-art commercial software ABAQUS.