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Fast continuous collision detection for articulated models

Title
Fast continuous collision detection for articulated models
Authors
Redon S.Kim Y.J.Lin M.C.Manocha D.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2004
Journal Title
ACM Symposium on Solid Modeling and Applications, SM
ISSN
1811-7783JCR Link
Citation
pp. 145 - 156
Indexed
SCOPUS scopus
Abstract
We present a novel algorithm to perform continuous collision detections/or articulated models. Given two discrete configurations of the links of an articulated model, we use an "arbitrary in-between motion" to interpolate its motion between two successive time steps and check the resulting trajectory for collisions. Our approach uses a three-stage pipeline: (1) dynamic bounding-volume hierarchy (D-BVH) culling based on interval arithmetic; (2) culling refinement using the swept volume of line swept sphere (LSS) and graphics hardware accelerated queries; (3) exact contact computation using OBB-trees and continuous collision detection between triangular primitives. The overall algorithm computes the time of collision, contact locations and prevents any interpenetration between the articulated model with the environment. We have implemented the algorithm and tested its performance on a 2.4 GHz Pentium PC with 1 Gbyte of RAM and a NVIDIA GeForce FX 5800 graphics card. In practice, our algorithm is able to perform accurate and continuous collision detection between articulated models and complex environments at nearly interactive rates. ©The Eurographics Association 2004.
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엘텍공과대학 > 컴퓨터공학과 > Journal papers
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