Fast constructive-solid geometry display in the pixel-powers graphics system
SIGGRAPH '86 Proceedings of the 13th annual conference on Computer graphics and interactive techniques
Dynamic simulation of autonomous legged locomotion
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Interactive inspection of solids: cross-sections and interferences
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Dynamic simulation of nonpenetrating rigid bodies
Dynamic simulation of nonpenetrating rigid bodies
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Impulse-based simulation of rigid bodies
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
Strategies for polyhedral surface decomposition: an experimental study
Computational Geometry: Theory and Applications
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
Fast computation of generalized Voronoi diagrams using graphics hardware
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
Timewarp rigid body simulation
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Fast and simple 2D geometric proximity queries using graphics hardware
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Collision Detection for Interactive Graphics Applications
IEEE Transactions on Visualization and Computer Graphics
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
Penetration depth of two convex polytopes in 3D
Nordic Journal of Computing
Deformed distance fields for simulation of non-penetrating flexible bodies
Proceedings of the Eurographic workshop on Computer animation and simulation
Hardware-assisted self-collision for deformable surfaces
VRST '02 Proceedings of the ACM symposium on Virtual reality software and technology
Fast penetration depth estimation using rasterization hardware and hierarchical refinement
Proceedings of the nineteenth annual symposium on Computational geometry
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
Incremental Penetration Depth Estimation between Convex Polytopes Using Dual-Space Expansion
IEEE Transactions on Visualization and Computer Graphics
Image-Based Collision Detection for Deformable Cloth Models
IEEE Transactions on Visualization and Computer Graphics
Haptic Display of Interaction between Textured Models
VIS '04 Proceedings of the conference on Visualization '04
Fast collision detection between massive models using dynamic simplification
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Hardware-based simulation and collision detection for large particle systems
Proceedings of the ACM SIGGRAPH/EUROGRAPHICS conference on Graphics hardware
Fast and reliable collision culling using graphics hardware
Proceedings of the ACM symposium on Virtual reality software and technology
Fast and Reliable Collision Culling Using Graphics Hardware
IEEE Transactions on Visualization and Computer Graphics
Fast proximity computation among deformable models using discrete Voronoi diagrams
ACM SIGGRAPH 2006 Papers
A framework for bounded-time collision detection in haptic interactions
Proceedings of the ACM symposium on Virtual reality software and technology
Haptic display of interaction between textured models
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Hardware-Based Collision and Self-Collision for Rigid and Deformable Surfaces
Presence: Teleoperators and Virtual Environments
A Fast and Stable Penalty Method for Rigid Body Simulation
IEEE Transactions on Visualization and Computer Graphics
Interactive Hausdorff distance computation for general polygonal models
ACM SIGGRAPH 2009 papers
A unified approach for physically-based simulations and haptic rendering
Proceedings of the 2009 ACM SIGGRAPH Symposium on Video Games
Accurate and efficient cpu/gpu-based 3-dof haptic rendering of complex static virtual environments
Presence: Teleoperators and Virtual Environments
A physically-based virtual environment dedicated to surgical simulation
IS4TM'03 Proceedings of the 2003 international conference on Surgery simulation and soft tissue modeling
PolyDepth: Real-time penetration depth computation using iterative contact-space projection
ACM Transactions on Graphics (TOG)
Minimizing the error of linear separators on linearly inseparable data
Discrete Applied Mathematics
ACM Transactions on Graphics (TOG)
Computer-Aided Design
A collisions evaluation method in virtual environment for collaborativeassembly
Journal of Network and Computer Applications
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We present a novel and fast algorithm to compute penetration depth (PD) between two polyhedral models for physically-based animation. Given two overlapping polyhedra, it computes the minimal translation distance to separate them using a combination of object-space and image-space techniques. The algorithm computes pairwise Minkowski sums of decomposed convex pieces and performs a closest point query using rasterization hardware. It uses bounding volume hierarchies, object-space and image-space culling algorithms to further accelerate the computation and refines the estimated PD in a hierarchical manner. We demonstrate its application to contact response computation and a time-stepping method for dynamic simulation.