When we interact with virtual objects we can have some important problems in the field of computer graphics, physically-based simulations, computer animations, robotics and haptics as collision detection. What it can include? Editing the deformable objects, the stable calculation of physically-plausible contact information, moreover very high frequency is depends on haptic rendering. In this book you can know how New Geometric Data Structures for Collision Detection and Haptics can be used in research issues, how new interesting ideas and their practical applications can be implement in robotics, computer graphics and animation.