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PolyDepth: Real-time penetration depth computation using iterative contact-space projection

Title
PolyDepth: Real-time penetration depth computation using iterative contact-space projection
Authors
Je C.Tang M.Lee Y.Lee M.Kim Y.J.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2012
Journal Title
ACM Transactions on Graphics
ISSN
0730-0301JCR Link
Citation
vol. 31, no. 1
Indexed
SCI; SCIE; SCOPUS WOS scopus
Abstract
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.
DOI
10.1145/2077341.2077346
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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