Table 2.

Average detection time (unit: ms).

Frequency	Number of triangle faces of soft object	Number of triangle faces of rigid object	Space decomposition	Hierarchical bounding volumes	Hybrid bounding box algorithm	Hybrid bounding box algorithm for compressed storage
1	61	50	4.15	4.11	4.23	4.09
2	582	50	4.21	4.19	4.31	4.17
3	1317	50	4.39	4.41	4.42	4.39
4	2134	50	5.07	5.13	5.25	5.07
5	4027	50	6.31	6.92	7.04	6.81
6	5172	50	7.01	7.68	7.73	7.44