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 detection for spherical blend skinning
Proceedings of the 4th international conference on Computer graphics and interactive techniques in Australasia and Southeast Asia
Fast continuous collision detection among deformable models using graphics processors
Computers and Graphics
Interactive Continuous Collision Detection Using Swept Volume for Avatars
Presence: Teleoperators and Virtual Environments
Continuous collision detection for articulated models using Taylor models and temporal culling
ACM SIGGRAPH 2007 papers
Autonomous object manipulation for virtual humans
ACM SIGGRAPH 2008 classes
Retracted Article: Self-collision Detection for Rigid Non-convex Multi-link Model
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
C2A: controlled conservative advancement for continuous collision detection of polygonal models
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Fast continuous collision detection among deformable models using graphics processors
EGVE'06 Proceedings of the 12th Eurographics conference on Virtual Environments
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We present a fast algorithm for continuous collision detectionbetween a moving avatar and its surrounding virtualenvironment.We model the avatar as an articulated bodyusing line-skeletons with constant offsets and the virtual environmentas a collection of polygonized objects.Given theposition and orientation of the avatar at discrete time steps,we use an arbitrary in-between motion to interpolate thepath for each link between discrete instances.We boundthe swept-space of each link using a swept volume (SV) andcompute a bounding volume hierarchy to cull away linksthat are not in close proximity to the objects in the virtualenvironment.We generate the SV's of the remaining linksand use them to check for possible interferences and estimatethe time of collision between the surface of the SV andthe objects in the virtual environment.Furthermore, we usegraphics hardware to perform collision queries on the dynamicallygenerated swept surfaces.Our overall algorithmrequires no precomputation and is applicable to general articulatedbodies.We have implemented the algorithm ona 2.4 GHz Pentium IV PC with NVIDIA GeForce FX 5800graphics card and applied it to an avatar with 16 links, movingin a virtual environment composed of hundreds of thousandsof polygons.Our prototype system is able to detect allcontacts between the moving avatar and the environment in10-30 milliseconds.