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Continuous collision detection for articulated models using Taylor models and temporal culling

Title
Continuous collision detection for articulated models using Taylor models and temporal culling
Authors
Zhang X.Redon S.Lee M.Kim Y.J.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2007
Journal Title
Proceedings of the ACM SIGGRAPH Conference on Computer Graphics
Indexed
SCOPUS scopus
Abstract
We present a fast continuous collision detection (CCD) algorithm for articulated models using Taylor models and temporal culling. Our algorithm is a generalization of conservative advancement (CA) from convex models [Mirtich 1996] to articulated models with non-convex links. Given the initial and final configurations of a moving articulated model, our algorithm creates a continuous motion with constant translational and rotational velocities for each link, and checks for interferences between the articulated model under continuous motion and other models in the environment and for self-collisions. If collisions occur, our algorithm reports the first time of contact (TOC) as well as collision witness features. We have implemented our CCD algorithm and applied it to several challenging scenarios including locomotion generation, articulated-body dynamics and character motion planning. Our algorithm can perform CCDs including self-collision detection for articulated models consisting of many links and tens of thousands of triangles in 1.22 ms on average running on a 3.6 GHz Pentium 4 PC. This is an improvement on the performance of prior algorithms of more than an order of magnitude. © 2007 ACM.
DOI
10.1145/1275808.1276396
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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