Collision Detection for Moving Polyhedra
IEEE Transactions on Pattern Analysis and Machine Intelligence
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Kinetic collision detection for simple polygons
Proceedings of the sixteenth annual symposium on Computational geometry
Fast Collision Detection Among Multiple Moving Spheres
IEEE Transactions on Visualization and Computer Graphics
Collision prediction for polyhedra under screw motions
SM '03 Proceedings of the eighth ACM symposium on Solid modeling and applications
Efficient collision detection for animation and robotics
Efficient collision detection for animation and robotics
Impulse-based dynamic simulation of rigid body systems
Impulse-based dynamic simulation of rigid body systems
Interactive and Continuous Collision Detection for Avatars in Virtual Environments
VR '04 Proceedings of the IEEE Virtual Reality 2004
Interactive collision detection between deformable models using chromatic decomposition
ACM SIGGRAPH 2005 Papers
Interactive continuous collision detection for non-convex polyhedra
The Visual Computer: International Journal of Computer Graphics
Fast continuous collision detection for articulated models
SM '04 Proceedings of the ninth ACM symposium on Solid modeling and applications
Continuous collision detection for articulated models using Taylor models and temporal culling
ACM SIGGRAPH 2007 papers
Fast collision detection for deformable models using representative-triangles
Proceedings of the 2008 symposium on Interactive 3D graphics and games
Continuous Collision Detection for Two Moving Elliptic Disks
IEEE Transactions on Robotics
Fast continuous collision detection using deforming non-penetration filters
Proceedings of the 2010 ACM SIGGRAPH symposium on Interactive 3D Graphics and Games
Recent advances in real-time collision and proximity computations for games and simulations
ACM SIGGRAPH ASIA 2010 Courses
Fast continuous collision detection using parallel filter in subspace
I3D '11 Symposium on Interactive 3D Graphics and Games
PolyDepth: Real-time penetration depth computation using iterative contact-space projection
ACM Transactions on Graphics (TOG)
ACM Transactions on Graphics (TOG)
A multi-threaded algorithm for computing the largest non-colliding moving geometry
Computer-Aided Design
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We present a simple and fast algorithm to perform continuous collision detection between polygonal models undergoing rigid motion for interactive applications. Our approach can handle all triangulated models and makes no assumption about the underlying geometry and topology. The algorithm uses the notion of conservative advancement (CA), originally developed for convex polytopes [1], [2]. We extend this formulation to general models using swept sphere volume hierarchy and present a compact formulation to compute the motion bounds along with a novel controlling scheme. We have implemented the algorithm and highlight its performance on various benchmarks. In practice, our algorithm can perform continuous collision queries in few milli-seconds on models composed of tens of thousands of triangles.