Convex partitions of polyhedra: a lower bound and worst-case optimal algorithm
SIAM Journal on Computing
A hierarchical data structure for representing assemblies: part I
Computer-Aided Design
Inference of the positions of components in an assembly: part 2
Computer-Aided Design
Efficient intersection tests for objects defined constructively
International Journal of Robotics Research
Approximation hierarchies and S-bounds
SMA '91 Proceedings of the first ACM symposium on Solid modeling foundations and CAD/CAM applications
Solving the Collision Detection Problem
IEEE Computer Graphics and Applications
Convex Decomposition of Simple Polygons
ACM Transactions on Graphics (TOG)
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
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Abstract: An assembly model consists of component models and their relations. Conventional CAD systems support 3 dimensional visualization of component models in flat 2D screen. Here, assembly simulation of the assembly model is proposed where the components are displayed and manipulated in 3D environment in real time using the virtual reality interface and the designer can visualize and manipulate the computer based assembly model naturally like a physical mock up. A real time manipulation of component models requires a real time collision detection. Previous collision detection algorithms are designed for off-line use or for online use with approximation or localization. In this paper, a general precise real time collision detection method is developed which can be applied to objects with complex shapes (a polyhedral object with concave regions).