1. A method of determining whether models collide with each other, the method comprising: determining whether the model primitives, each of which envelop each of the models, collide with each other at a current time; determining whether paths reflecting movement of the model primitives between the current time and a previous time overlap each other when the model primitives do not collide with each other at the current time; determining, by way of a processor, whether the model primitives collide with each other at an arbitrary time between the current time and the previous time when the path primitives overlap each other; and recognizing that the models collide with each other at the arbitrary time when the model primitives collide with each other at the arbitrary time.