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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 pruning multiple-object pairs using bounding boxes and performing exact collision detection between selected pairs of polyhedral models. We demonstrate the performance of the system in walkthrough and simulation environments consisting of a large number of moving objects. In particular, the system takes less than 1/20 of a second to determine all the collisions and contacts in an environment consisting of more than 1000 moving …