Proceedings ArticleDOI
A new algorithm for detecting the collision of moving objects
Elmer G. Gilbert,S.M. Hong +1 more
- Vol. 1, Iss: 2, pp 8-14
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TLDR
Iterative algorithms for detecting the collision of convex objects whose motion is characterized by a path in configuration space are described and it appears that the computational time is short and grows only linearly in the total number of vertices of the two polytopes.Abstract:
Iterative algorithms for detecting the collision of convex objects whose motion is characterized by a path in configuration space are described. They use as an essential substep the computation of the distance between the two objects. When the objects are polytopes in either two-dimensional or three-dimensional space, an algorithm is given which terminates in a finite number of iterations. It either determines that no collision occurs or locates the first collision point on the path. For practical problems it appears that the computational time is short and grows only linearly in the total number of vertices of the two polytopes. Numerical examples are presented. >read more
Citations
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Journal ArticleDOI
3D collision detection: a survey
TL;DR: This paper tries to provide a comprehensive survey of all these techniques from a unified viewpoint, so that well-known algorithms are presented as particular instances of general approaches.
Proceedings ArticleDOI
A fast algorithm for incremental distance calculation
Ming C. Lin,John Canny +1 more
TL;DR: A simple and efficient algorithm for finding the closest points between two convex polynomials is described and can be used for collision detection, computation of the distance between two polyhedra in three-dimensional space, and other robotics problems.
Efficient collision detection for animation and robotics
Ming C. Lin,John Canny +1 more
TL;DR: An opportunistic global path planner algorithm which uses the incremental distance computation algorithm to trace out a one-dimensional skeleton for the purpose of robot motion planning and its performance attests their promise for real-time dynamic simulations as well as applications in a computer generated virtual environment.
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Motion Planning in Dynamic Environments
TL;DR: This study of robot motion planning in dynamic domains presents algorithms for generating motion in an environment that changes over time and can serve as a reference for those working on spatial reasoning and autonomous robotic systems.
Physically Based Modeling
TL;DR: Physically based modeling has become an important new approach to computer animation and computer graphics modeling, but many capable computer graphics practitioners, despite their interest in the subject, have simply been put off by the density of the math.
References
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Journal ArticleDOI
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Elmer G. Gilbert,Daniel Johnson +1 more
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Journal ArticleDOI
Collision Detection for Moving Polyhedra
TL;DR: It is shown that a quaternion representation of rotation yields constraints which are purely algebraic in a seven-dimensional space, which greatly simplifies computation of collision points, and allows us to derive an efficient exact intersection test for an object which is translating and rotating among obstacles.