Bounding Volume Hierarchy collide

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Bounding Volume Hierarchy (BVH) is a popular algorithm used in game engines for collision detection. It involves organizing objects in a scene into a tree-like structure of bounding volumes, with each parent node containing its child nodes. The bounding volumes can be simple shapes such as spheres or boxes, or more complex shapes like convex hulls or meshes. The BVH algorithm makes collision detection more efficient by reducing the number of pairwise tests needed to check for collisions.

In a game engine, BVH collision detection involves the following steps:

1. Construct the BVH tree: Objects in the scene are organized into a tree-like structure of bounding volumes. This involves recursively dividing the space into smaller regions until each region contains only a few objects.

2. Update the BVH tree: As objects move around the scene, the BVH tree needs to be updated to reflect their new positions and orientations.

3. Perform collision detection: The BVH tree is traversed to determine which objects are potentially colliding. The algorithm starts at the root node of the tree and checks whether the bounding volumes of the child nodes intersect with the bounding volume of the query object. If they do, the algorithm recursively checks the child nodes of the intersecting nodes until it reaches a leaf node, which contains the actual object. If the bounding volumes of two objects intersect, a more detailed collision test can be performed to determine if they are actually colliding.

4. Resolve collisions: If two objects are found to be colliding, their velocities can be adjusted to prevent interpenetration.

BVH collision detection is widely used in game engines because it provides a fast and efficient way to check for collisions between objects in a scene. It can be used for both static and dynamic objects and can handle complex shapes like meshes. However, constructing and updating the BVH tree can be computationally expensive, and the accuracy of the collision detection depends on the quality of the bounding volumes used.