What robust methods or approaches exist for exact collision detection involving high-detail, deformable geometry?
The kind of mesh I am describing is a surface that is specified as a triangulated polyhedron and looks very similar to this:
For the specific application I am working on, I need to find all the contact points for colliding meshes that undergo subsequent deformation. Possible deformations that may occur during a collisional event:
1) the mesh decomposes, or fragments into smaller (triangulated) meshes
2) the mesh retains integrity but the vertex values of it's surface change
3) both of the above deformations occur
There is no real-time constraint; accuracy rather than performance is the critical factor.