Graphical modeling and animation of brittle fracture
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
A fast and robust GJK implementation for collision detection of convex objects
Journal of Graphics Tools
Fast penetration depth computation for physically-based animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Collision Detection for Interactive Graphics Applications
IEEE Transactions on Visualization and Computer Graphics
Fast and Robust Smallest Enclosing Balls
ESA '99 Proceedings of the 7th Annual European Symposium on Algorithms
Fast penetration depth estimation using rasterization hardware and hierarchical refinement
Proceedings of the nineteenth annual symposium on Computational geometry
Six Degree-of-Freedom Haptic Rendering of Complex Polygonal Models
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
Rapid Collision Detection by Dynamically Aligned DOP-Trees
VRAIS '98 Proceedings of the Virtual Reality Annual International Symposium
Collision detection for deforming necklaces
Computational Geometry: Theory and Applications - Special issue on the 18th annual symposium on computational geometry—SoCG2002
Generalized penetration depth computation
Computer-Aided Design
Minimizing the object dimensions in circle and sphere packing problems
Computers and Operations Research
Six-DoF Haptic Rendering of Contact Between Geometrically Complex Reduced Deformable Models
IEEE Transactions on Haptics
Image-based collision detection and response between arbitrary volume objects
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Interruptible collision detection for deformable objects
Computers and Graphics
A benchmarking suite for 6-DOF real time collision response algorithms
Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology
ProtoSphere: a GPU-assisted prototype guided sphere packing algorithm for arbitrary objects
ACM SIGGRAPH ASIA 2010 Sketches
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Based on our new geometric data structure, the inner sphere trees, we present fast and stable algorithms for different kinds of collision detection queries between rigid objects at haptic rates. Namely, proximity queries and the penetration volume, which is related to the water displacement of the overlapping region and thus corresponds to a physically motivated force. The latter allows us to define a novel penalty-based collision response scheme that provides continuous forces and torques which are applicable to physically-based simulations as well as to haptic rendering scenarios. Moreover, we present a time-critical version of the penetration volume computation that is able to achieve very tight bounds within a fixed budget of query time. The main idea of our new data structure is to bound the object from the inside with a set of non-overlapping bounding volumes. The results show performance at haptic rates both for proximity and penetration volume queries, independent from the polygon count of the objects.