TY - JOUR
AU - 김영준
DA - 2012
UR - http://dspace.ewha.ac.kr/handle/2015.oak/222385
AB - We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find an initial collision-free configuration using several methods such as centroid difference, maximally clear configuration, motion coherence, random configuration, and sampling-based search. We project this configuration on to a local contact space using a variant of continuous collision detection algorithm and construct a linear convex cone around the projected configuration.We then formulate a new projection of the in-collision configuration onto the convex cone as a Linear Complementarity Problem (LCP), which we solve using a type of Gauss-Seidel iterative algorithm.We repeat this procedure until a locally optimal PD is obtained. Our algorithm can process complicated models consisting of tens of thousands triangles at interactive rates. © 2012 ACM.
LA - English
TI - PolyDepth: Real-time penetration depth computation using iterative contact-space projection
IS - 1
VL - 31
DO - 10.1145/2077341.2077346
ER -