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SCG '86 Proceedings of the second annual symposium on Computational geometry
IEEE Transactions on Pattern Analysis and Machine Intelligence
Dynamic simulation of autonomous legged locomotion
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Linear programming and convex hulls made easy
SCG '90 Proceedings of the sixth annual symposium on Computational geometry
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
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SCG '92 Proceedings of the eighth annual symposium on Computational geometry
Efficient randomized algorithms for some geometric optimization problems
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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
Primitives for the manipulation of general subdivisions and the computation of Voronoi
ACM Transactions on Graphics (TOG)
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
On finding narrow passages with probabilistic roadmap planners
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
H-Walk: hierarchical distance computation for moving convex bodies
SCG '99 Proceedings of the fifteenth annual symposium on Computational geometry
Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
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Journal of Experimental Algorithmics (JEA)
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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
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SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
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Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
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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
Six-Degree-of-Freedom Haptic Display Using Localized Contact Computations
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
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ICB '09 Proceedings of the Third International Conference on Advances in Biometrics
Determining the directional contact range of two convex polyhedra
Computer-Aided Design
Determining directional contact range of two convex polyhedra
GMP'08 Proceedings of the 5th international conference on Advances in geometric modeling and processing
Computers and Operations Research
PolyDepth: Real-time penetration depth computation using iterative contact-space projection
ACM Transactions on Graphics (TOG)
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Discrete Applied Mathematics
ACM Transactions on Graphics (TOG)
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Abstract--We present a fast algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a "locally optimal solution驴 by walking on the surface of the Minkowski sums. The surface of the Minkowski sums is computed implicitly by constructing a local dual mapping on the Gauss map. We also present three heuristic techniques that are used to estimate the initial features used by the walking algorithm. We have implemented the algorithm and compared its performance with earlier approaches. In our experiments, the algorithm is able to estimate the penetration depth in about a milli-second on an 1 GHz Pentium PC. Moreover, its performance is almost independent of model complexity in environments with high coherence between successive instances.