OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Fast training of support vector machines using sequential minimal optimization
Advances in kernel methods
An introduction to support Vector Machines: and other kernel-based learning methods
An introduction to support Vector Machines: and other kernel-based learning methods
Fast penetration depth computation for physically-based animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Computing the Penetration Depth of Two Convex Polytopes in 3D
SWAT '00 Proceedings of the 7th Scandinavian Workshop on Algorithm Theory
Fundamentals of spherical parameterization for 3D meshes
ACM SIGGRAPH 2003 Papers
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
Generalized penetration depth computation
Computer-Aided Design
Mesh parameterization methods and their applications
Foundations and Trends® in Computer Graphics and Vision
Covering Minkowski sum boundary using points with applications
Computer Aided Geometric Design
Generalized penetration depth computation based on kinematical geometry
Computer Aided Geometric Design
Interactive Hausdorff distance computation for general polygonal models
ACM SIGGRAPH 2009 papers
LIBSVM: A library for support vector machines
ACM Transactions on Intelligent Systems and Technology (TIST)
PolyDepth: Real-time penetration depth computation using iterative contact-space projection
ACM Transactions on Graphics (TOG)
Adaptive image-based intersection volume
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Configuration-Based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation
IEEE Transactions on Haptics
Hi-index | 0.00 |
We present a new measure for computing the continuous penetration depth between two intersecting rigid objects. We generate a set of samples in the configuration space, precompute an approximation of the contact space for two intersecting objects using binary classification techniques, and construct a bijective mapping between the spherical space and the precomputed contact space. For a given in-collision configuration, we search the spherical space for the nearest neighbor, and find the corresponding image in the contact space based on the predefined spherical parameterization. The resulting image is a witness equivalent to the nearest configuration, and it is used to formulate the penetration depth direction based on our measure. Unlike prior algorithms, our algorithm guarantees that both the penetration depth magnitude and direction are continuous with respect to the motion parameters. Our algorithm is approximate in the sense that we approximate the exact contact space. We have applied our algorithm to complex rigid models composed of tens or hundreds of thousands of triangles, and the runtime query takes only around 0.01 ms.