An assembly model consists of component models and their relations. Conventional CAD systems support 3 dimensional visualization of component models in flat 2D screen. Here, assembly simulation of the assembly model is proposed where the components are displayed and manipulated in 3D environment in real time using the virtual reality interface and the designer can visualize and manipulate the computer based assembly model naturally like a physical mock up. A real time manipulation of component models requires a real time collision detection. Previous collision detection algorithms are designed for off-line use or for online use with approximation or localization. In this paper, a general precise real time collision detection method is developed which can be applied to objects with complex shapes (a polyhedral object with concave regions).
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