. Author manuscript; available in PMC: 2018 Nov 1.

Published in final edited form as: J Biomed Inform. 2017 Sep 22;75:48–62. doi: 10.1016/j.jbi.2017.09.010

Algorithm 1.

Edge-edge continuous collision detection for thread self-collision

1:	procedure selfCollisionDetection
2:	for each line segment i = 1 → N do
3:	for each proximate line segment j (found in broad phase) do
4:	compute w⁽^t^+Δ^t⁾ from current positions
5:	compute [or retrieve] w⁽^t⁾ from previous positions
6:	compute \|w⁽^t⁾\|, \|w⁽^t^+Δ^t⁾\|, m = sign(w⁽^t⁾.w⁽^t^+Δ^t⁾)
7:	if \|w⁽^t^+Δ^t⁾\| − m\|w⁽^t^+Δ^t⁾\| ≤ 0 then
8:	return false; (no collision)
9:	else
10:	if s_i⁽^t^+Δ^t⁾ < 0 or s_i⁽^t^+Δ^t⁾ > 1 or s_i⁽^t^+Δ^t⁾ < 0 or s_i⁽^t^+Δ^t⁾ > 1 then
11:	(case when w⁽^t^+Δ^t⁾ lies outside any of line segment)
12:	compute w̄⁽^t^+Δ^t⁾
13:	else
14:	set w̄⁽^t^+Δ^t⁾ = w⁽^t^+Δ^t⁾
15:	end if
16:	if \|w̄⁽^t^+Δ^t⁾\| < D then
17:	return true; (collision)
18:	else
19:	if sign(w⁽^t⁾.w⁽^t^+Δ^t⁾ < 0 and 0 ≤ s_i⁽^t^+Δ^t⁾, s_j⁽^t^+Δ^t⁾ ≤ 1 then
20:	return true; (collision)
21:	else
22:	return false; (no collision)
23:	end if
24:	end if
25:	end if
26:	end for
27:	end for
28:	end procedure