随着计算机软硬件及网络等技术的日益成熟，尤其是计算机动画仿真、虚拟现实等技术的发展，人们对现实世界真实模拟的要求越来越高，而这其中的关键技术之一就是高效的碰撞检测技术。实时精确的碰撞检测对于提高虚拟场景的真实性、人机交互的实时性，有着至关重要的作用。本文在保证碰撞检测精确性的前提下，为了提高碰撞检测的实时性而对碰撞检测算法的层次包围盒算法进行了深入的研究。 首先，介绍了碰撞检测算法的基本理论知识，对常用的几种碰撞检测算法以及层次包围盒算法进行了详细介绍。通过对比总结出它们各自的优劣，从而为后文选择何种包围盒提供了理论依据。 其次，对传统的混合层次包围盒算法进行了深入研究，并针对传统混合层次包围盒算法中层次包围盒树的结构、层次包围盒树的遍历和更新方法进行改进。实验结果表明：和传统算法相比，优化算法极大的减少了碰撞检测时间，将它应用于模型较为复杂的虚拟场景中能取得更加满意的效果。 最后，利用Virtools软件搭建了仿真实验平台，以发生碰撞时的运算时间、检测精度为考察目标。通过实验结果的对比分析，验证了本文算法相对于传统算法的性能优势，以及本文算法在处理相对复杂的刚性物体间的碰撞检测问题时的可行性与有效性。

With the increasingly mature stage of technology such as hardware and software of computer and network , especially the development of technology such as computer animation simulation, virtual and reality technology, people has more and more high requirement on the real world simulation, efficient collision detection technology is one of the key technology . Instantaneity accurate collision detection has the vital role in improving the authenticity of the virtual scene, and instantaneity of human-computer interaction. In this paper, based on the premise of guarantee the collision detection accuracy, in order to improve the instantaneity of collision detection then deeply study hierarchical bounding box algorithm of collision detection algorithm . First, this paper introduces the basic theory knowledge of collision detection algorithm, introduced several kinds of collision detection algorithms and hierarchical bounding box algorithm. By comparing and summarizing their respective advantages and disadvantages, so as to carried on theoretical basis for later on choosing the kind of bounding box . Second, deeply studied the traditional hybrid hierarchical bounding box algorithm and improved the structure, traversal and updating method of hierarchical bounding box tree in traditional hybrid hierarchical bounding box algorithm. The experimental results show that compared with the traditional algorithm, the optimization algorithm greatly reduces the time of collision detection, it can achieve more satisfactory results when it was applied to virtual scene with more complex model. Finally, used Virtools software to set up the simulation experiment platform, put the operation time of the collision and detection accuracy as investigation target. Through the comparison and analysis of experimental results, verifies performance advantages of the algorithm and the feasibility and effectiveness of this algorithm in dealing with relatively complex collision detection problem between rigid objects , when compared with traditional algorithm.