Concerning the requirements of real-time and accurate collision detection in interactive system, a shared memory parallel collision detection algorithm is proposed. Firstly, the algorithm incorporates the merits of both AABB bounding box and bounding spheres to construct a hybrid bounding representation of arbitrary non-convex polyhedra (S-AABB) for attaining speed, and then uses OpenMP parallel programming model to traversal the built hybrid bounding volume hierarchy, so further accelerates the collision detection. At last, The experimental results have shown that the algorithm is advantageous over other current typical collision detection algorithms such as I-COLLIDE regarding efficiency and accuracy, so can meets the real-time and accurate requirements in complex interactive virtual environment. At the same time, comparing with some parallel collision detection algorithms which include MPI using multi-process, Pipelining using multi-thread and multi-process, this paper has shown that our parallel algorithm based OpenMP is superior in terms of time efficiency, resource consumption and stability.