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I want to play with deformation of tetrahedral mesh (soft-body simulation) but I need help with self-collision detection stuff.

I found SOFA collision detection but I'm not sure that it fits for self-intersection of a tetrahedral mesh.

Can anyone suggest me good algorithm for self-collision detection? As far as I can understand, something like BVH of tetrahedra can help me, but it would be great if somebody with expertise shows me right direction.

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    \$\begingroup\$ Wouldn't any collision detection algorithm that works with convex shapes apply here, after you filter out any tetrahedra sharing a face? (eg. Separating Axis Theorem or GJK, or even just plain triangle-triangle intersection tests for the surface faces alone) What is it about self-intersection specifically that makes this troublesome to solve with conventional methods? \$\endgroup\$ Commented Mar 1, 2021 at 14:24

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