Abstract: In this paper we reconsider pairwise collision detection for rigid motions using a k-DOP bounding volume hierarchy. This data structure is particularly attractive because it is equally efficient for rigid motions as for arbitrary point motions (deformations).

We propose a new efficient realignment algorithm, which produces tighter results compared to all known algorithms. It can be implemented easily in software and in hardware. Using this approach we try to show, that k-DOP bounding volumes can keep up with the theoretically more efficient oriented bounding boxes (OBBs) in parallel-close-proximity situations.