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
Plausible motion simulation for computer graphics animation
Proceedings of the Eurographics workshop on Computer animation and simulation '96
Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Self-customized BSP trees for collision detection
Computational Geometry: Theory and Applications - special issue on virtual reality
Box-trees and R-trees with near-optimal query time
SCG '01 Proceedings of the seventeenth annual symposium on Computational geometry
The randomized z-buffer algorithm: interactive rendering of highly complex scenes
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
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
VRST '02 Proceedings of the ACM symposium on Virtual reality software and technology
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
Efficient collision detection of complex deformable models using AABB trees
Journal of Graphics Tools
Image-Based Techniques in a Hybrid Collision Detector
IEEE Transactions on Visualization and Computer Graphics
Real-time Collision Detection for Virtual Surgery
CA '99 Proceedings of the Computer Animation
The sensitivity of presence to collision response
VRAIS '97 Proceedings of the 1997 Virtual Reality Annual International Symposium (VRAIS '97)
Rapid Collision Detection by Dynamically Aligned DOP-Trees
VRAIS '98 Proceedings of the Virtual Reality Annual International Symposium
A Real-Time Algorithm for Accurate Collision Detection for Deformable Polyhedral Objects
Presence: Teleoperators and Virtual Environments
Image-space based collision detection in cloth simulation on walking humans
CompSysTech '04 Proceedings of the 5th international conference on Computer systems and technologies
Visualization in Medicine: Theory, Algorithms, and Applications
Visualization in Medicine: Theory, Algorithms, and Applications
A model for the expected running time of collision detection using AABBs trees
EGVE'06 Proceedings of the 12th Eurographics conference on Virtual Environments
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We present a novel, generic framework and algorithm for hierarchical collision detection, which allows an application to balance speed and quality of the collision detection.We pursue an average-case approach that yields a numerical measure of the quality. This can either be specified by the simulation or interaction, or it can help to assess the result of the collision detection in a time-critical system.Conceptually, we consider sets of polygons during traversal and estimate probabilities that there is an intersection among these sets. This can be done efficiently by storing characteristics about the average distribution of the set of polygons with each node in a bounding volume hierarchy (BVH). Consequently, we neither need any polygon intersection tests nor access to any polygons during the collision detection process.Our approach can be applied to virtually any BVH. Therefore, we call a BVH that has been augmented in this way an average-distribution tree or ADB-tree.We have implemented our new approach with two basic BVHs and present performance measurements and comparisons with a very fast previous algorithm, namely the DOP-tree. The results show a speedup of about a factor 3 to 6 with only approximately 4% error.