Abstract: The traditional OBB-based hybrid bounding box structures mostly only take advantage of the compactness of the OBB, and do not improve the overlap tests between the bounding boxes， but the tests between bounding boxes take up most of the time for such algorithms. So, a collision detection algorithm based on a dual bounding volume hierarchy is proposed, the outer AABB can quickly exclude far-off model pairs, and when the AABB intersects, unlike the traditional method of detecting 15 potential separation axes, the overlap test between the OBBs in the inner layer only needs to detect a particular five separate axis. In the basic element overlap test phase of the algorithm, the intermediate value calculated by the overlap test between OBBs is used to replace the values of the triangles, which eliminates the triangular coordinate transformation in different models. This step also improves the efficiency of the whole algorithm.

Key words: collision detection, aligned-axis bounding box, oriented bounding box, bounding volume hierarchy, triangle-triangle overlap test, coordinate transformation