An intersection algorithm for moving parts

The problem of deciding whether moving mechanical parts will collide during motion arises frequently in computer-aided design of machinery and in robotics. In machinery design, the problem becomes acute when there are various complex curved mechanical parts that will follow planned trajectories. There is a need to know at an early stage in the design process whether there will be collisions between parts necessitating changes in part shapes, trajectories, or in the overall design. This paper describes a collision detection algorithm that is guaranteed to detect a collision if one will occur, and it also computes the earliest point of contact.