Book ChapterDOI
Collision and Proximity Queries
Ming C. Lin,Dinesh Manocha,Young J. Kim +2 more
- pp 1029-1056
Reads0
Chats0
TLDR
In a geometric context, a collision or proximity query reports information about the relative configuration or placement of two objects as mentioned in this paper, and the common examples of such queries include checking whether two objects overlap in space, or whether their boundaries intersect, or computing the minimum Euclidean separation distance between their boundaries.Abstract:
In a geometric context, a collision or proximity query reports information about the relative configuration or placement of two objects Some of the common examples of such queries include checking whether two objects overlap in space, or whether their boundaries intersect, or computing the minimum Euclidean separation distance between their boundaries Hundreds of papers have been published on different aspects of these queries in computational geometry and related areas such as robotics, computer graphics, virtual environments, and computer-aided design These queries arise in different applications including robot motion planning, dynamic simulation, haptic rendering, virtual prototyping, interactive walkthroughs, computer gaming, and molecular modeling For example, a large-scale virtual environment, eg, a walkthrough, creates a model of the environment with virtual objects Such an environment is used to give the user a sense of presence in a synthetic world and it should make the images of both the user and the surrounding objects feel solid The objects should not pass through each other, and objects should move as expected when pushed, pulled, or grasped; see Fig 3901 Such actions require fast and accurate collision detection between the geometric representations of both real and virtual objects Another example is rapid prototyping, where digital representations of mechanical parts, tools, and machines, need to be tested for interconnectivity, functionality, and reliability In Fig 3902, the motion of the pistons within the combustion chamber wall is simulated to check for tolerances and verify the designread more
Citations
More filters
Journal ArticleDOI
Continuous point projection to planar freeform curves using spiral curves
TL;DR: An efficient algorithm for projecting a continuously moving query point to a family of planar freeform curves based on the one-sided Hausdorff distance from the trajectory curve to the planar curves is presented.
Proceedings ArticleDOI
Metrics for comparing explicit representations of interconnected biological networks
TL;DR: This paper proposes a robust metric for measuring and visualizing the differences between network models that takes into account both geometry and connectivity to measure network similarity.
Journal ArticleDOI
Broadmark: A Testing Framework for Broad‐Phase Collision Detection Algorithms
TL;DR: This paper delves into the broad‐phase of collision detection systems, providing both an open‐source framework, named Broadmark, to test, compare and validate algorithms, and an in‐deep analysis of the main techniques used so far to tackle thebroad‐phase problem.
Journal ArticleDOI
HCCMeshes: Hierarchical‐Culling oriented Compact Meshes
TL;DR: A novel hierarchical‐culling oriented compact mesh representation, HCCMesh, which tightly integrates a mesh and a BVH together and can handle models ten times larger in commodity hardware without the expensive disk I/O thrashing.
Computing the Minimum Directional Distance between Two Convex Polyhedra
TL;DR: The idea is to reduce the MDD problem to seeking a vertex on the dual polyhedron of M with the maximum signed distance from a special plane by means of a duality transformation, and shows that this is equivalent to locating a face on M with which a ray shooting from the origin in the direction s first intersects.
References
More filters
Proceedings ArticleDOI
OBBTree: a hierarchical structure for rapid interference detection
TL;DR: A data structure and an algorithm for efficient and exact interference detection amongst complex models undergoing rigid motion that can robustly and accurately detect all the contacts between large complex geometries composed of hundreds of thousands of polygons at interactive rates are presented.
Journal ArticleDOI
A fast procedure for computing the distance between complex objects in three-dimensional space
TL;DR: An algorithm for computing the Euclidean distance between a pair of convex sets in R/sup m/ has special features which makes its application in a variety of robotics problems attractive.
Journal ArticleDOI
Approximating polyhedra with spheres for time-critical collision detection
TL;DR: A method for approximating polyhedral objects to support a time-critical collision-detectional algorithm that maintains its real-time performance as objects become more complicated, even as they exceed previouslyreported complexity levels by a factor of more than 10.
Proceedings ArticleDOI
Geometric intersection problems
Michael Ian Shamos,Dan Hoey +1 more
TL;DR: An O(N log N) algorithm is given to determine whether any two intersect and use it to detect whether two simple plane polygons intersect and to show that the Simplex method is not optimal.
Journal ArticleDOI
V-Clip: fast and robust polyhedral collision detection
TL;DR: The Voronoi-clip, or V-Clip, collision detection alogrithm for polyhedral objects specified by a boundary representation is presented, and the theoretical principles and pseudocode description of the algorithm are presented.