Shown here is a torus with many twists and wrinkles interacting with a complex landscape. The torus is 20000 polygons. The landscape is 98000 polygons (most of it not visible in the screen shots). The average collision query time using RAPID in a typical sequence like this one was 6.9 msecs (wall clock time, not cpu time) on an otherwise unloaded SGI Reality Engine (90 MHz R8000 CPU, 512 MB).
Accesses since Mar'96.