  This paper presents a real-time solution for collision detection between
objects based on the physics properties. Traditional approaches on collision
detection often rely on the geometric relationships that computing the
intersections between polygons. Such technique is very computationally
expensive when applied for deformable objects. As an alternative, we
approximate the 3D mesh in an spherical surface implicitly. This allows us to
perform a coarse-level collision detection at extremely fast speed. Then a
dynamic programming based procedure is applied to identify the collision in
fine details. Our method demonstrates better prevention to collision tunnelling
and works more efficiently than the state-of-the-arts.
