IRTCD: Iterative Ray-Traced Collision Detection algorithm for GPU architectures

IRTCD is a novel Iterative Ray-Traced Collision Detection algorithm that exploits spatial and temporal coherency. Our approach uses any existing standard ray-tracing algorithm and we propose an iterative algorithm that updates the previous time step results at a lower cost with some approximations. Applied for rigid bodies, our iterative algorithm accelerates the collision detection with a speedup of 33 compared to non-iterative algorithms on GPU.