Abstract: ther formats: WmvWmv We present a fast algorithm for continuous collision detection between deformable models. Our approach performs no precomputation and can handle general triangulated models undergoing topological changes. We present a fast decomposition algorithm that represents the mesh boundary using hierarchical clusters and only needs to perform inter-cluster collision checks. The key idea is to compute such clusters quickly and merge them to generate a dynamic bounding volume hierarchy. The overall approach reduces the overhead of computing the hierarchy and also reduces the number of false positives. We highlight the the algorithm's performance on many complex benchmarks generated from medical simulations and crash analysis. In practice, we observe 1.4 to 5 times speedup over prior CCD algorithms for deformable models in our benchmarks.