The present invention relates to a method of detecting collisions on a Graphics Processing Unit (GPU). Each collision detection object Oi is projected onto a reference direction, thus obtaining an interval Ii represented by a set {mi, Mi}. Radix sorting based on obtained mi for all Oi, thus obtaining a sorted list L. The sorted list is swept, and then colliding pairs Pi are detected. All colliding pairs are configured into a single set, thus obtaining a final colliding pair P. On a GPU, SaP can be performed on a plurality of collision detection objects in parallel using the blocks of a plurality of threads.