Dynamic simulation of nonpenetrating rigid bodies
Dynamic simulation of nonpenetrating rigid bodies
Zippered polygon meshes from range images
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Fitting smooth surfaces to dense polygon meshes
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
An Algorithm for Finding Best Matches in Logarithmic Expected Time
ACM Transactions on Mathematical Software (TOMS)
Multidimensional binary search trees used for associative searching
Communications of the ACM
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
A Benchmark for Animated Ray Tracing
IEEE Computer Graphics and Applications
Efficient collision detection of complex deformable models using AABB trees
Journal of Graphics Tools
Development of Real -Time Virtual Reality Haptic Application: Real-Time Issues
CBMS '99 Proceedings of the 12th IEEE Symposium on Computer-Based Medical Systems
Rapid Collision Detection by Dynamically Aligned DOP-Trees
VRAIS '98 Proceedings of the Virtual Reality Annual International Symposium
Broad-phase collision detection using semi-adjusting BSP-trees
Proceedings of the 2005 symposium on Interactive 3D graphics and games
Interactive collision detection between deformable models using chromatic decomposition
ACM SIGGRAPH 2005 Papers
A Proposal for Standard Graphics Environments
IEEE Computer Graphics and Applications
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Collision detection is a vital component of applications spanning myriad fields, yet there exists no means for developers to analyse the suitability of their collision detection algorithms across the spectrum of scenarios that could be encountered. To rectify this, we propose a framework for benchmarking interactive collision detection, which consists of a single generic benchmark that can be adapted using a number of parameters to create a large range of practical benchmarks. This framework allows algorithm developers to test the validity of their algorithms across a wide test space and allows developers of interactive applications to recreate their application scenarios and quickly determine the most amenable algorithm. To demonstrate the utility of our framework, we adapted it to work with three collision detection algorithms supplied with the Bullet Physics SDK. Our results demonstrate that those algorithms conventionally believed to offer the best performance are not always the correct choice. This demonstrates that conventional wisdom cannot be relied on for selecting a collision detection algorithm and that our benchmarking framework fulfils a vital need in the collision detection community. The framework has been made open source, so that developers do not have to reprogram the framework to test their own algorithms, allowing for consistent results across different algorithms and reducing development time.