Abstract: We present an approach for approximate collision handling which uses probabilistic information for improving the calculated collision response between objects in real-time physically based animation. The system uses an interruptible collision detection mechanism, which checks for intersections between successive levels of a bounding volume hierarchy (BVH). Interruptible collision detection approaches allow us to guarantee target frame rates and are often called on to make an approximation of contact points in order to deliver a suitable collision response within a given time schedule. In our system we use a BVH based on voxels and use the voxel occupancy information as well as the bounding volume interpenetration depth to improve the approximation of contact points when the collision handling stage is interrupted. We also present an evaluation of the plausibility of animations resulting from our approach.