Convex partitions of polyhedra: a lower bound and worst-case optimal algorithm
SIAM Journal on Computing
Computational geometry: an introduction
Computational geometry: an introduction
Collision Detection for Moving Polyhedra
IEEE Transactions on Pattern Analysis and Machine Intelligence
Intersection of convex objects in two and three dimensions
Journal of the ACM (JACM)
Geometric collisions for time-dependent parametric surfaces
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Merging BSP trees yields polyhedral set operations
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Approximation hierarchies and S-bounds
SMA '91 Proceedings of the first ACM symposium on Solid modeling foundations and CAD/CAM applications
Convex decomposition of polyhedra and robustness
SIAM Journal on Computing
Interval arithmetic recursive subdivision for implicit functions and constructive solid geometry
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Interactive solid geometry via partitioning trees
Proceedings of the conference on Graphics interface '92
Modeling contacts in a physically based simulation
SMA '93 Proceedings on the second ACM symposium on Solid modeling and applications
Dynamic simulation of nonpenetrating rigid bodies
Dynamic simulation of nonpenetrating rigid bodies
Interval methods for multi-point collisions between time-dependent curved surfaces
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Solving the Collision Detection Problem
IEEE Computer Graphics and Applications
Computational geometry in C
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Incremental algorithms for collision detection between solid models
SMA '95 Proceedings of the third ACM symposium on Solid modeling and applications
An interactive tool for placing curved surfaces without interpenetration
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
On visible surface generation by a priori tree structures
SIGGRAPH '80 Proceedings of the 7th annual conference on Computer graphics and interactive techniques
Efficient collision detection for animation and robotics
Efficient collision detection for animation and robotics
Visibility sorting and compositing without splitting for image layer decompositions
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
Software architecture for a constraint-based virtual environment
Proceedings of the ACM symposium on Virtual reality software and technology
Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
Sphere-tree construction using dynamic medial axis approximation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
LARGE a collision detection framework for deformable objects
VRST '02 Proceedings of the ACM symposium on Virtual reality software and technology
Hardware-assisted self-collision for deformable surfaces
VRST '02 Proceedings of the ACM symposium on Virtual reality software and technology
Normal bounds for subdivision-surface interference detection
Proceedings of the conference on Visualization '01
Adaptive medial-axis approximation for sphere-tree construction
ACM Transactions on Graphics (TOG)
Image-Based Collision Detection for Deformable Cloth Models
IEEE Transactions on Visualization and Computer Graphics
Spatial constraint method: a new approach to real-time haptic interaction in virtual environments
Presence: Teleoperators and Virtual Environments - Special issue: Advances in collaborative virtual environments
Fast and reliable collision culling using graphics hardware
Proceedings of the ACM symposium on Virtual reality software and technology
Multi-layered deformable surfaces for virtual clothing
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
A randomized marking scheme for continuous collision detection in simulation of deformable surfaces
Proceedings of the 2006 ACM international conference on Virtual reality continuum and its applications
Efficient collision culling among deformable objects using graphics processors
Presence: Teleoperators and Virtual Environments - Special issue: IEEE VR 2005
Hardware-Based Collision and Self-Collision for Rigid and Deformable Surfaces
Presence: Teleoperators and Virtual Environments
Efficient Collision Detection within Deforming Spherical Sliding Contact
IEEE Transactions on Visualization and Computer Graphics
A 3D Convex Hull algorithm for modelling medical data in a virtual environment
International Journal of Intelligent Systems Technologies and Applications
Multi-core collision detection between deformable models
2009 SIAM/ACM Joint Conference on Geometric and Physical Modeling
Assembling virtual fixtures for guidance in training environments
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Fast oriented bounding box optimization on the rotation group SO(3,ℝ)
ACM Transactions on Graphics (TOG)
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Fast and accurate collision detection between general polygonal models is a fundamental problem in physically based and geometric modeling, robotics, animation, and computer-simulated environments. Most earlier collision detection algorithms are either restricted to a class of models (such as convex polytopes) or are not fast enough for practical applications. We present an incremental algorithm for collision detection between general polygonal models in dynamic environments. The algorithm combines a hierarchical representation with incremental computation to rapidly detect collisions. It makes use of coherence between successive instances to efficiently determine the number of object features interacting. For each pair of objects, it tracks the closest features between them on their respective convex hulls. It detects the objects' penetration using pseudo internal Voronoi cells and constructs the penetration region, thus identifying the regions of contact on the convex hulls. The features associated with these regions are represented in a precomputed hierarchy. The algorithm uses a coherence based approach to quickly traverse the precomputed hierarchy and check for possible collisions between the features. We highlight its performance on different applications.