The result of collision detection is closely related to the further deformation or cutting action of soft tissue. In order to further improve the efficiency and stability of collision detection, in this paper, a collision detection algorithm of bounding volume hierarchy based on virtual sphere was proposed. The proposed algorithm was validated and the results show that the detection efficiency of the bounding volume hierarchy algorithm based on virtual sphere is higher than that of the serial hybrid bounding volume hierarchy algorithm and the parallel hybrid bounding volume hierarchy algorithm. Different collision detection algorithms were tested and the results show that the collision detection algorithm based on virtual sphere has high detection efficiency and good stability. As the number of triangular patches increased, the advantage was more and more obvious. Finally, the proposed algorithm was applied to two large and medium-sized virtual scenes to implement the collision detection between the vastus lateralis muscle, thigh and surgical instrument. Based on the virtual sphere, the collision detection algorithm of bounding volume hierarchy can implement efficient and stable collision detection in a virtual surgery system. Meanwhile, the algorithm can be combined with other acceleration algorithms (such as the multithread acceleration algorithm) to further improve detection efficiency.
A dynamic bounding volume hierarchy for generalized collision detection