Fast Continuous Collision Detection for Articulated Models

dc.contributor.authorRedon, S.en_US
dc.contributor.authorLin, M. C.en_US
dc.contributor.authorManocha, D.en_US
dc.contributor.editorGershon Elber and Nicholas Patrikalakis and Pere Bruneten_US
dc.date.accessioned2016-02-17T18:02:45Z
dc.date.available2016-02-17T18:02:45Z
dc.date.issued2004en_US
dc.description.abstractWe present a novel algorithm to perform continuous collision detection for articulated models. Given two discrete configurations of the links of an articulated model, we use an ''arbitrary in-between motion'' to interpolate its motion between two successive time steps and check the resulting trajectory for collisions. Our approach uses a three-stage pipeline: (1) dynamic bounding-volume hierarchy (D-BVH) culling based on interval arithmetic; (2) culling refinement using the swept volume of line swept sphere (LSS) and graphics hardware accelerated queries; (3) exact contact computation using OBB-trees and continuous collision detection between triangular primitives. The overall algorithm computes the time of collision, contact locations and prevents any interpenetration between the articulated model with the environment. We have implemented the algorithm and tested its performance on a 2.4 GHz Pentium PC with 1 Gbyte of RAM and a NVIDIA GeForce FX 5800 graphics card. In practice, our algorithm is able to perform accurate and continuous collision detection between articulated models and complex environments at nearly interactive rates.en_US
dc.description.sectionheadersTolerancing and Collision Detectionen_US
dc.description.seriesinformationSolid Modelingen_US
dc.identifier.doi10.2312/sm.20041385en_US
dc.identifier.isbn3-905673-55-Xen_US
dc.identifier.issn1811-7783en_US
dc.identifier.pages145-156en_US
dc.identifier.urihttps://doi.org/10.2312/sm.20041385en_US
dc.publisherThe Eurographics Associationen_US
dc.titleFast Continuous Collision Detection for Articulated Modelsen_US
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