Comment by torginus

Collision detection is such a fascinating subfield with so many approaches based on what representation you end up going with, and what sort of domain you are working in.

> It would be interesting to look at some of the newer algorithms for approximate convex decomposition. These decompose a non-convex object into multiple convex hulls that can overlap slightly.

I wonder if you involve the broadphase in this, you could make an even cheaper decomposition - if you used something like BSP (which is a collision detection algo in of itself) that constrained nodes spatially, like BSPs, so if the convex decomposition nodes were to 'spill out' of the original model, those points would be rejected by the broadphase so they wouldn't matter.

Right now, most algorithms discard all the information built up by the broadphase.