Proceedings ArticleDOI
V-COLLIDE: accelerated collision detection for VRML
Thomas C. Hudson,Ming C. Lin,Jonathan D. Cohen,Stefan Gottschalk,Dinesh Manocha +4 more
- pp 117-123
TLDR
It is demonstrated that it is possible to perform accurate collision detection at interactive rates in VRML environments composed of large numbers of complex moving objects.Abstract:
Collision detection is essential for many applications involving simulation, behavior and animation. However, it has been regarded as a computationallydemanding task and is often treated as an advanced feature. Most commonly used commercial CAD/CAM packages and high performance graphics libraries, such as SGI Performer, provide limited support for collision detection. As users continue to stretch the capabilities of VRML, collision detection will soon become an indispensable capability for many applications. In this paper, we present a system for accelerated and robust collision detection and describe its interface to VRML browsers. We demonstrate that it is possible to perform accurate collision detection at interactive rates in VRML environments composed of large numbers of complex moving objects. CRread more
Citations
More filters
Book
Principles of Robot Motion: Theory, Algorithms, and Implementations
Howie Choset,Jean-Claude Latombe +1 more
TL;DR: In this paper, the mathematical underpinnings of robot motion are discussed and a text that makes the low-level details of implementation to high-level algorithmic concepts is presented.
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.
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.
Journal ArticleDOI
Virtual reality for assembly methods prototyping: a review
TL;DR: A review of the research in virtual assembly is provided and the potential to support integration of natural human motions into the computer aided assembly planning environment and results in reduced time and cost for product design are presented.
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.
Proceedings ArticleDOI
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
TL;DR: An exact and interactive collision detection system for large-scale environments, I-COLLIDE, based on pruning multiple-object pairs using bounding boxes and performing exact collision detection between selected pairs of polyhedral models.
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.