Computational geometry: an introduction
Computational geometry: an introduction
Collision Detection for Moving Polyhedra
IEEE Transactions on Pattern Analysis and Machine Intelligence
SIGGRAPH '86 Proceedings of the 13th annual conference on Computer graphics and interactive techniques
Automatic Creation of Object Hierarchies for Ray Tracing
IEEE Computer Graphics and Applications
Determining the separation of preprocessed polyhedra: a unified approach
Proceedings of the seventeenth international colloquium on Automata, languages and programming
A survey of ray tracing acceleration techniques
An introduction to ray tracing
Curved surfaces and coherence for non-penetrating rigid body simulation
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
The R*-tree: an efficient and robust access method for points and rectangles
SIGMOD '90 Proceedings of the 1990 ACM SIGMOD international conference on Management of data
Solving the Collision Detection Problem
IEEE Computer Graphics and Applications
Computational geometry in C
Fast contact force computation for nonpenetrating rigid bodies
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
Incremental algorithms for collision detection between solid models
SMA '95 Proceedings of the third ACM symposium on Solid modeling and applications
Approximating polyhedra with spheres for time-critical collision detection
ACM Transactions on Graphics (TOG)
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Real-time collision detection for motion simulation within complex environments
SIGGRAPH '96 ACM SIGGRAPH 96 Visual Proceedings: The art and interdisciplinary programs of SIGGRAPH '96
Collision detection in aspect and scale bounded polyhedra
Proceedings of the ninth annual ACM-SIAM symposium on Discrete algorithms
Improved Computational Methods for Ray Tracing
ACM Transactions on Graphics (TOG)
Strip trees: a hierarchical representation for curves
Communications of the ACM
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
Interactive Simulation of Solid Rigid Bodies
IEEE Computer Graphics and Applications
A Complete and Efficient Algorithm for the Intersection of a General and a Convex Polyhedron
WADS '93 Proceedings of the Third Workshop on Algorithms and Data Structures
Efficient collision detection for animation and robotics
Efficient collision detection for animation and robotics
Fast collision detection using QuOSPO trees
I3D '99 Proceedings of the 1999 symposium on Interactive 3D graphics
Computing bounding volume hierarchies using model simplification
I3D '99 Proceedings of the 1999 symposium on Interactive 3D graphics
Separation-sensitive collision detection for convex objects
Proceedings of the tenth annual ACM-SIAM symposium on Discrete algorithms
Analyzing bounding boxes for object intersection
ACM Transactions on Graphics (TOG)
Algorithms for minimum volume enclosing simplex in R3
SODA '00 Proceedings of the eleventh annual ACM-SIAM symposium on Discrete algorithms
Decomposing polygon meshes for interactive applications
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
Box-trees and R-trees with near-optimal query time
SCG '01 Proceedings of the seventeenth annual symposium on Computational geometry
Efficient maintenance and self-collision testing for Kinematic Chains
Proceedings of the eighteenth annual symposium on Computational geometry
Fast penetration depth computation for physically-based animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
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
Minimal hierarchical collision detection
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
The Prioritized-Layered Projection Algorithm for Visible Set Estimation
IEEE Transactions on Visualization and Computer Graphics
'Meshsweeper': Dynamic Point-to-Polygonal-Mesh Distance and Applications
IEEE Transactions on Visualization and Computer Graphics
SODA '03 Proceedings of the fourteenth annual ACM-SIAM symposium on Discrete algorithms
Optimization Techniques in an Event-Driven Simulation of a Shaker Ball Mill
ICCS '02 Proceedings of the International Conference on Computational Science-Part III
Fast and Accurate Collision Detection for Virtual Environments
Dagstuhl '97, Scientific Visualization
Efficient collision detection of complex deformable models using AABB trees
Journal of Graphics Tools
ERIT: a collection of efficient and reliable intersection tests
Journal of Graphics Tools
Image-Based Techniques in a Hybrid Collision Detector
IEEE Transactions on Visualization and Computer Graphics
Local polyhedra and geometric graphs
Proceedings of the nineteenth annual symposium on Computational geometry
Collision prediction for polyhedra under screw motions
SM '03 Proceedings of the eighth ACM symposium on Solid modeling and applications
A Multiscale Deformable Model for Extracting Complex Surfaces from Volume Images
PG '99 Proceedings of the 7th Pacific Conference on Computer Graphics and Applications
Proceedings of the ACM SIGGRAPH/EUROGRAPHICS conference on Graphics hardware
Spatial data management for virtual product development
Computer Science in Perspective
Evaluating the visual fidelity of physically based animations
ACM SIGGRAPH 2003 Papers
Sensation preserving simplification for haptic rendering
ACM SIGGRAPH 2003 Papers
CLODs: dual hierarchies for multiresolution collision detection
Proceedings of the 2003 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
Adaptive medial-axis approximation for sphere-tree construction
ACM Transactions on Graphics (TOG)
Incremental Penetration Depth Estimation between Convex Polytopes Using Dual-Space Expansion
IEEE Transactions on Visualization and Computer Graphics
On matrix perturbations with minimal leading Jordan structure
Journal of Computational and Applied Mathematics - Special issue: Proceedings of the international conference on linear algebra and arithmetic, Rabat, Morocco, 28-31 May 2001
The Journal of Supercomputing
Kinetic collision detection between two simple polygons
Computational Geometry: Theory and Applications
Image-based collision detection
Integrated image and graphics technologies
Exact and approximation algorithms for computing optimal fat decompositions
Computational Geometry: Theory and Applications - Special issue on the 14th Canadian conference on computational geometry — CCCG02
Significant facet retrieval for real-time 3D sound rendering in complex virtual environments
Proceedings of the ACM symposium on Virtual reality software and technology
Time-critical collision detection using an average-case approach
Proceedings of the ACM symposium on Virtual reality software and technology
Collision detection for deforming necklaces
Computational Geometry: Theory and Applications - Special issue on the 18th annual symposium on computational geometry—SoCG2002
SLEVEs for planar spline curves
Computer Aided Geometric Design
Image-Based Collision Detection for Deformable Cloth Models
IEEE Transactions on Visualization and Computer Graphics
An Intestinal Surgery Simulator: Real-Time Collision Processing and Visualization
IEEE Transactions on Visualization and Computer Graphics
Object-based and image-based object representations
ACM Computing Surveys (CSUR)
Simple and rapid collision detection using multiple viewing volumes
VRCAI '04 Proceedings of the 2004 ACM SIGGRAPH international conference on Virtual Reality continuum and its applications in industry
Fast collision detection between massive models using dynamic simplification
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Local polyhedra and geometric graphs
Computational Geometry: Theory and Applications - Special issue on the 19th annual symposium on computational geometry - SoCG 2003
Fast and reliable collision culling using graphics hardware
Proceedings of the ACM symposium on Virtual reality software and technology
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
GI-COLLIDE: collision detection with geometry images
Proceedings of the 21st spring conference on Computer graphics
A flexible, low-level scene graph traversal with explorers
Proceedings of the 21st spring conference on Computer graphics
Velocity driven haptic rendering
GRAPHITE '05 Proceedings of the 3rd international conference on Computer graphics and interactive techniques in Australasia and South East Asia
Scalable interest management for multidimensional routing space
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
Kinetic bounding volume hierarchies for deformable objects
Proceedings of the 2006 ACM international conference on Virtual reality continuum and its applications
Algorithms for two-box covering
Proceedings of the twenty-second annual symposium on Computational geometry
Resolving surface collisions through intersection contour minimization
ACM SIGGRAPH 2006 Papers
Efficient collision culling among deformable objects using graphics processors
Presence: Teleoperators and Virtual Environments - Special issue: IEEE VR 2005
Two-step 3-dimensional sketching tool for new product development
WSC '04 Proceedings of the 36th conference on Winter simulation
Fast approximation of convex hull
ACST'06 Proceedings of the 2nd IASTED international conference on Advances in computer science and technology
Oriented convex polyhedra for collision detection in 3D computer animation
Proceedings of the 4th international conference on Computer graphics and interactive techniques in Australasia and Southeast Asia
Efficient collision detection for spherical blend skinning
Proceedings of the 4th international conference on Computer graphics and interactive techniques in Australasia and Southeast Asia
Lucid platform: applying HLA DDM to multiplayer online game middleware
Computers in Entertainment (CIE) - 3rd anniversary issue
A framework for bounded-time collision detection in haptic interactions
Proceedings of the ACM symposium on Virtual reality software and technology
Discrete quadratic curvature energies
ACM SIGGRAPH 2006 Courses
SQ-Map: Efficient Layered Collision Detection and Haptic Rendering
IEEE Transactions on Visualization and Computer Graphics
Introduction to haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Sensation preserving simplification for haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Visualization in Medicine: Theory, Algorithms, and Applications
Visualization in Medicine: Theory, Algorithms, and Applications
Fast continuous collision detection for articulated models
SM '04 Proceedings of the ninth ACM symposium on Solid modeling and applications
Hardware-accelerated collision detection for 3D virtual reality gaming
Simulation and Gaming - Symposium: virtual reality simulation
Efficient updates of bounding sphere hierarchies for geometrically deformable models
Journal of Visual Communication and Image Representation
Hardware-Based Collision and Self-Collision for Rigid and Deformable Surfaces
Presence: Teleoperators and Virtual Environments
Interactive Collision Detection for Deformable Models Using Streaming AABBs
IEEE Transactions on Visualization and Computer Graphics
Efficient Collision Detection within Deforming Spherical Sliding Contact
IEEE Transactions on Visualization and Computer Graphics
Hybrid image-based collision detection in Java 3D
Software—Practice & Experience
A quadratic bending model for inextensible surfaces
SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
B-KD trees for hardware accelerated ray tracing of dynamic scenes
GH '06 Proceedings of the 21st ACM SIGGRAPH/EUROGRAPHICS symposium on Graphics hardware
Role-based 3D visualisation for asynchronous PLM collaboration
Computers in Industry
Cloth simulation and collision detection using geometry images
AFRIGRAPH '07 Proceedings of the 5th international conference on Computer graphics, virtual reality, visualisation and interaction in Africa
Discrete quadratic curvature energies
Computer Aided Geometric Design
Velocity-Aligned Discrete Oriented Polytopes for Dynamic Collision Detection
IEEE Transactions on Visualization and Computer Graphics
Fast collision detection for deformable models using representative-triangles
Proceedings of the 2008 symposium on Interactive 3D graphics and games
DS-RT '07 Proceedings of the 11th IEEE International Symposium on Distributed Simulation and Real-Time Applications
Efficient evaluation of radial queries using the target tree
International Journal of Bioinformatics Research and Applications
Proceedings of the 2008 ACM symposium on Solid and physical modeling
Computer Graphics in Spain: Bounding-planes Octree: A new volume-based LOD scheme
Computers and Graphics
Collision detection between complex polyhedra
Computers and Graphics
Efficient c-oriented range searching with DOP-trees
Computational Geometry: Theory and Applications
Real-Time Conflict Detection in Cooperative Plant Design System Combining Prior and Context
Computer Supported Cooperative Work in Design IV
Asynchronous contact mechanics
ACM SIGGRAPH 2009 papers
From Interactive Positioning to Automatic Try-On of Garments
MIRAGE '09 Proceedings of the 4th International Conference on Computer Vision/Computer Graphics CollaborationTechniques
Rotated-Box Trees: A Lightweight c-Oriented Bounding-Volume Hierarchy
SEA '09 Proceedings of the 8th International Symposium on Experimental Algorithms
Fast and reliable mouse picking using graphics hardware
International Journal of Computer Games Technology - Special issue on cyber games and interactive entertainment
Technical Section: Visual computing for medical diagnosis and treatment
Computers and Graphics
Enhancing Haptic Rendering through Predictive Collision Detection
VMR '09 Proceedings of the 3rd International Conference on Virtual and Mixed Reality: Held as Part of HCI International 2009
Particle-based forecast mechanism for continuous collision detection in deformable environments
2009 SIAM/ACM Joint Conference on Geometric and Physical Modeling
Multi-core collision detection between deformable models
2009 SIAM/ACM Joint Conference on Geometric and Physical Modeling
Local polyhedra and geometric graphs
Computational Geometry: Theory and Applications - Special issue on the 19th annual symposium on computational geometry - SoCG 2003
From early virtual garment simulation to interactive fashion design
Computer-Aided Design
Research problems in clothing simulation
Computer-Aided Design
Interruptible collision detection for deformable objects
Computers and Graphics
A dynamic bounding volume hierarchy for generalized collision detection
Computers and Graphics
Scalable parallel collision detection simulation
SIP '07 Proceedings of the Ninth IASTED International Conference on Signal and Image Processing
Efficient collision detection using a dual OBB-sphere bounding volume hierarchy
Computer-Aided Design
A multilevel surface modeling method and its application to range image registration
Proceedings of the 8th International Conference on Virtual Reality Continuum and its Applications in Industry
Hierarchical Approach for Fast and Efficient Collision Detection in Urban Simulation
IVIC '09 Proceedings of the 1st International Visual Informatics Conference on Visual Informatics: Bridging Research and Practice
Deformable Proximity Queries and Their Application in Mobile Manipulation Planning
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Oriented bounding surfaces with at most six common normals
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Fast continuous collision detection using deforming non-penetration filters
Proceedings of the 2010 ACM SIGGRAPH symposium on Interactive 3D Graphics and Games
Fast ray-triangle intersection computation using reconfigurable hardware
MIRAGE'07 Proceedings of the 3rd international conference on Computer vision/computer graphics collaboration techniques
Subspace self-collision culling
ACM SIGGRAPH 2010 papers
Six degrees of freedom incremental occlusion horizon culling method for urban environments
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part I
Efficient collision detection using a dual bounding volume hierarchy
GMP'08 Proceedings of the 5th international conference on Advances in geometric modeling and processing
A survey on CAD methods in 3D garment design
Computers in Industry
Dynamic clothing collision resolution using PSO
International Journal of Computer Applications in Technology
Proximity queries using separating bounding volumes
International Journal of Computer Applications in Technology
Safe human-robot interaction based on dynamic sphere-swept line bounding volumes
Robotics and Computer-Integrated Manufacturing
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Robust continuous collision detection for deformable objects
Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology
Collision detection algorithm in virtual environment of robot workcell
AICI'10 Proceedings of the 2010 international conference on Artificial intelligence and computational intelligence: Part I
A framework for benchmarking interactive collision detection
Proceedings of the 25th Spring Conference on Computer Graphics
VolCCD: Fast continuous collision culling between deforming volume meshes
ACM Transactions on Graphics (TOG)
Efficient c-oriented range searching with DOP-trees
ESA'05 Proceedings of the 13th annual European conference on Algorithms
Particle-based fluid simulation on the GPU
ICCS'06 Proceedings of the 6th international conference on Computational Science - Volume Part IV
Comparing sphere-tree generators and hierarchy updates for deformable objects collision detection
ISVC'05 Proceedings of the First international conference on Advances in Visual Computing
ICCS'05 Proceedings of the 5th international conference on Computational Science - Volume Part I
Computing the distance between canal surfaces
GMP'10 Proceedings of the 6th international conference on Advances in Geometric Modeling and Processing
Efficient point projection to freeform curves and surfaces
GMP'10 Proceedings of the 6th international conference on Advances in Geometric Modeling and Processing
Development of real-time virtual environment with hierarchical construction
Proceedings of the 6th International Conference on Ubiquitous Information Management and Communication
Energy-based self-collision culling for arbitrary mesh deformations
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Efficient point-projection to freeform curves and surfaces
Computer Aided Geometric Design
Distance computation for canal surfaces using cone-sphere bounding volumes
Computer Aided Geometric Design
Minimum bounding boxes for regular cross-polytopes
Proceedings of the 27th Annual ACM Symposium on Applied Computing
Efficient Image-Based Proximity Queries with Object-Space Precision
Computer Graphics Forum
Fast continuous collision culling with deforming noncollinear filters
Computer Animation and Virtual Worlds
A virtual training system using a force feedback haptic device for oral implantology
Transactions on Edutainment VIII
Ray tracing dynamic scenes using selective restructuring
EGSR'07 Proceedings of the 18th Eurographics conference on Rendering Techniques
A model for the expected running time of collision detection using AABBs trees
EGVE'06 Proceedings of the 12th Eurographics conference on Virtual Environments
Exploiting parallelism in physically-based simulations on multi-core processor architectures
EG PGV'07 Proceedings of the 7th Eurographics conference on Parallel Graphics and Visualization
A fluid/cloth coupling method for high velocity collision simulation
Proceedings of the 11th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and its Applications in Industry
An Image-Space Approach for Collision Detection Between Multiple Volumes and a Surface
International Journal of Creative Interfaces and Computer Graphics
PDQ: Parallel Distance Queries for deformable meshes
Graphical Models
Radial view based culling for continuous self-collision detection of skeletal models
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Merging faces: a new orthogonal simplification of solid models
DGCI'13 Proceedings of the 17th IAPR international conference on Discrete Geometry for Computer Imagery
Dynamic radial view based culling for continuous self-collision detection
Proceedings of the 18th meeting of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Protein structure optimization by side-chain positioning via beta-complex
Journal of Global Optimization
Special Section on CAD/Graphics 2013: Canopy-frame interactions for umbrella simulation
Computers and Graphics
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Collision detection is of paramount importance for many applications in computer graphics and visualization. Typically, the input to a collision detection algorithm is a large number of geometric objects comprising an environment, together with a set of objects moving within the environment. In addition to determining accurately the contacts that occur between pairs of objects, one needs also to do so at real-time rates. Applications such as haptic force-feedback can require over 1,000 collision queries per second.In this paper, we develop and analyze a method, based on bounding-volume hierarchies, for efficient collision detection for objects moving within highly complex environments. Our choice of bounding volume is to use a "discrete orientation polytope" ("k-dop"), a convex polytope whose facets are determined by halfspaces whose outward normals come from a small fixed set of k orientations. We compare a variety of methods for constructing hierarchies ("BV-trees") of bounding k-dops. Further, we propose algorithms for maintaining an effective BV-tree of k-dops for moving objects, as they rotate, and for performing fast collision detection using BV-trees of the moving objects and of the environment.Our algorithms have been implemented and tested. We provide experimental evidence showing that our approach yields substantially faster collision detection than previous methods.