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While there has been work in automatic approximate convex decompositions of meshes using convex hulls, they are not practical for applications with tight performance budgets such as games due to slower collision detection and inability to manually modify the output while maintaining convexity as compared to manually placed primitives. Rather than convex decomposition with convex hulls, we devise an approach for bottom\u2010up decomposition of an input mesh into convex primitives specifically for rigid body simulation inspired by quadric mesh simplification. This approach fits primitives to complex, real\u2010world meshes that provide plausible simulation performance and are guaranteed to enclose the input surface. We test convex primitive decomposition on over 60 models from Sketchfab, showing the algorithm's effectiveness. On this dataset, convex primitive decomposition has lower oneway mean and median Hausdorff and Chamfer distance from the collider to the input compared to V\u2010HACD and CoACD, with less than one\u2010third of the complexity as measured by total bytes for each collider. On top of that, rigid\u2010body simulation performance measured by wall\u2010clock time is consistently improved across 24 tested models.<\/jats:p>","DOI":"10.1111\/cgf.70411","type":"journal-article","created":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T12:38:00Z","timestamp":1774874280000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Convex Primitive Decomposition for Collision Detection"],"prefix":"10.1111","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4461-2036","authenticated-orcid":false,"given":"Julian","family":"Knodt","sequence":"first","affiliation":[{"name":"Lightspeed Studios  Bellevue Washington USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0829-7075","authenticated-orcid":false,"given":"Xifeng","family":"Gao","sequence":"additional","affiliation":[{"name":"Lightspeed Studios  Bellevue Washington USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2026,3,30]]},"reference":[{"key":"e_1_2_8_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00371-006-0375-x"},{"key":"e_1_2_8_2_3","doi-asserted-by":"crossref","unstructured":"doi:10.1007\/s00371-006-0375-x. 3","DOI":"10.1007\/s00371-006-0375-x"},{"key":"e_1_2_8_3_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8659.2008.01271.x"},{"key":"e_1_2_8_3_3","doi-asserted-by":"crossref","unstructured":"doi:https:\/\/doi.org\/10.1111\/j.1467-8659.2008.01271.x. 3","DOI":"10.1111\/j.1467-8659.2008.01271.x"},{"key":"e_1_2_8_4_2","doi-asserted-by":"publisher","DOI":"10.1145\/3641519.3657479"},{"key":"e_1_2_8_4_3","doi-asserted-by":"crossref","unstructured":"doi:10.1145\/3641519.3657479. 1 3 7","DOI":"10.1145\/3641519.3657479"},{"key":"e_1_2_8_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2019.2900309"},{"key":"e_1_2_8_6_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-18342-3_6"},{"key":"e_1_2_8_6_3","doi-asserted-by":"crossref","unstructured":"doi:10.1007\/978-3-642-18342-3_6. 3","DOI":"10.1007\/978-3-642-18342-3_6"},{"key":"e_1_2_8_7_2","doi-asserted-by":"crossref","unstructured":"BischoffS. 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