adaptive space subdivision
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The algorithm builds BoxTreees of arbitrary non convex polyhedra using a hierarchical adaptive space subdivision scheme, and speeds up collision detection by traversing the BoxTrees in parallel.
该算法面向动态复杂场景采用层次的自适应空间剖分方法建构物体的平衡包围盒树，然后通过并行遍历包围盒树来加速碰撞检测。
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