Continuous Collision Detection for Ellipsoids

Authors:
Yi-King Choi;Jung-Woo Chang;Wenping Wang;Myung-Soo Kim;Gershon Elber
Affiliations:
The University of Hong Kong, Hong Kong;Seoul National University, Seoul;The University of Hong Kong, Hong Kong;Seoul National University, Seoul;Technion, Israel Institute of Technology, Haifa
Venue:
IEEE Transactions on Visualization and Computer Graphics
Year:
2009

Citing 0
Cited 4

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An algebraic approach to continuous collision detection for ellipsoids

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Original article: Parallel collision detection of ellipsoids with applications in large scale multibody dynamics

Mathematics and Computers in Simulation
Generalization of the collision cone approach for motion safety in 3-D environments

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Abstract

We present an accurate and efficient algorithm for continuous collision detection between two moving ellipsoids. We start with a highly optimized implementation of interference testing between two stationary ellipsoids based on an algebraic condition described in terms of the signs of roots of the characteristic equation of two ellipsoids. Then we derive a time-dependent characteristic equation for two moving ellipsoids, which enables us to develop a real-time algorithm for computing the time intervals in which two moving ellipsoids collide. The effectiveness of our approach is demonstrated with several practical examples.