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:

enter image description here

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.

  • \$\begingroup\$ Did you consider to use an already existing engine? \$\endgroup\$ – Vaillancourt Mar 26 '16 at 11:28
  • \$\begingroup\$ There is PKDGRAV: hpcc.astro.washington.edu/faculty/trq/brandon/pkdgrav.html which is similar but the code is not publicly available. Other engines are either encumbered by license restrictions (commercial or GPL) or targeted at games making them unsuitable in a scientific application. \$\endgroup\$ – bw_0x7c6 Mar 26 '16 at 13:25
  • \$\begingroup\$ Also, an external library, often introduces a large amount of unnecessary code that I am NOT prepared to read, debug and massage given the very specific problem that I am trying to solve. \$\endgroup\$ – bw_0x7c6 Mar 26 '16 at 13:38

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