Adaptive deformations with fast tight bounds

Simulation of deformations and collision detection are two highly intertwined problems that are often treated sepa- rately. This is especially true in existing elegant adaptive simulation techniques, where standard collision detection algorithms cannot leverage the adaptively selected degrees of freedom.We propose a seamless integration of multi- grid algorithms and collision detection that identifies boundary conditions while inherently exploiting adaptivity. We realize this integration through multiscale bounding hierarchies, a novel unified hierarchical representation, together with an adaptive multigrid algorithm for irregular meshes and an adaptivity-aware hierarchical collision detection algorithm. Our solution produces detailed deformations with adapted computational cost, but it also enables robust interactive simulation of self-colliding deformable objects with high-resolution surfaces.