The paper lists the most common methods for detection of intersections and an algorithm for resolving conflicts of flat two-dimensional objects with complex non-convex shapes. The developed algorithm is characterized by the absence of a convex decomposition of non-convex objects. Examples collision resolution two non-convex objects. The estimation of the average time of resolution of conflicts. The efficiency of the algorithm, which works in more than three times faster than considered unique.

Keywords: collision detection algorithm, flat two-dimensional objects, non-convex contours, convex decomposition, algorithm GJK / EPA, Minkowski sum, separating axis theorem