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We present an exact and interactive collision detection system, I-COLLIDE, for large-scale environments. Such environments are characterized by the number of objects undergoing rigid motion and the complexity of the models. The algorithm does not assume the objects' motions can be expressed as a closed form function of time. The collision detection system is general and can be easily interfaced with a variety of applications. The algorithm uses a two-level approach based on pruningdoi:10.1145/199404.199437 dblp:conf/si3d/CohenLMP95 fatcat:4ehyercrijfchiyjsjdsufjcvu