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SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Fast penetration depth computation for physically-based animation
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Nordic Journal of Computing
Impulse-based dynamic simulation of rigid body systems
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Generalized penetration depth computation
Computer-Aided Design
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ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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ACM SIGGRAPH 2010 papers
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ACM Transactions on Graphics (TOG)
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ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
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We present a novel, real-time algorithm to accurately approximate the generalized penetration depth (PDg) between two overlapping rigid or articulated models. Given the high complexity of computing PDg, our algorithm approximates PDg based on iterative, constrained optimization on the contact space, defined by the overlapping objects. The main ingredient of our algorithm is a novel and general formulation of distance metric, the object norm, in a configuration space for articulated models, and a compact closed-form solution for it. Then, we perform constrained optimization, by linearizing the contact constraint, and minimizing the object norm under such a constraint. In practice, our algorithm can compute locally optimal PDg for rigid or articulated models consisting of tens of thousands of triangles in tens of milliseconds. We also suggest three applications using PDg computation: retraction-based motion planning, physically-based animation, and data-driven grasping.