Animation is important in computer games and movies industries. But so far the main work still focuses on kinematic analysis. It is due to difficulty in on-line collision detection and wretch analysis, which leads to the difficulty in computing real movement of a 3D object in a realistic or virtual environment. The purpose of our work is to provide a virtual environment, where as a new object moves into the environment, the real motion of the object can be given automatically.' In this paper, a new algorithm is proposed for real time collision detection for a polyhedron within a given 3D environment. It also gives a simple method in contact state detection and compliant motion analysis. The work can be used to give real time motion of polyhedra precisely and also the real time motion of objects composited by polyhedra approximately.
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