Kinetic sweep and prune for multi-body continuous motion

We propose an acceleration scheme for real-time many-body dynamic collision detection. We kinetize the sweep and prune method for many-body collision pruning, extending its application to dynamic collision detection via kinetic data structures. In doing so, we modify the method from sample-rate-driven to event-driven, with no more events than the original method processed, also removing the per-frame overhead, allowing our method to scale optimally in terms of frame-rates. Unlike many schemes for many-body collision pruning, ours performs well in both sparse and dense environments, with few or many collisions.