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Continuous penetration depth computation for rigid models using dynamic Minkowski sums

Title
Continuous penetration depth computation for rigid models using dynamic Minkowski sums
Authors
Lee, YoungeunBehar, EvanLien, Jyh-MingKim, Young J.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2016
Journal Title
COMPUTER-AIDED DESIGN
ISSN
0010-4485JCR Link1879-2685JCR Link
Citation
vol. 78, pp. 14 - 25
Keywords
Penetration depthMinkowski sumCollision detectionConvolution
Publisher
ELSEVIER SCI LTD
Indexed
SCI; SCIE; SCOPUS WOS scopus
Abstract
We present a novel, real-time algorithm for computing the continuous penetration depth (CPD) between two interpenetrating rigid models bounded by triangle meshes. Our algorithm guarantees gradient continuity for the penetration depth (PD) results, unlike conventional penetration depth (PD) algorithms that may have directional discontinuity due to the Euclidean projection operator involved with PD computation. Moreover, unlike prior CPD algorithms, our algorithm is able to handle an orientation change in the underlying model and deal with a topologically-complicated model with holes. Given two intersecting models, we interpolate tangent planes continuously on the boundary of the Minkowski sums between the models and find the closest point on the boundary using Phong projection. Given the high complexity of computing the Minkowski sums for polygonal models in 3D, our algorithm estimates a solution subspace for CPD and dynamically constructs and updates the Minkowski sums only locally in the subspace. We implemented our algorithm on a standard PC platform and tested its performance in terms of speed and continuity using various benchmarks of complicated rigid models, and demonstrated that our algorithm can compute CPD for general polygonal models consisting of tens of thousands of triangles with a hole in a few milli-seconds while guaranteeing the continuity of PD gradient. Moreover, our algorithm can compute more optimal PD values than a state-of-the-art PD algorithm due to the dynamic Minkowski sum computation. (C) 2016 Elsevier Ltd. All rights reserved.
DOI
10.1016/j.cad.2016.05.012
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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