A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties
IEEE Transactions on Visualization and Computer Graphics
Velocity-Aligned Discrete Oriented Polytopes for Dynamic Collision Detection
IEEE Transactions on Visualization and Computer Graphics
Interactive Hausdorff distance computation for general polygonal models
ACM SIGGRAPH 2009 papers
PolyDepth: Real-time penetration depth computation using iterative contact-space projection
ACM Transactions on Graphics (TOG)
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This paper presents an overview of our recent work on continuous collision detection methods and constraints handling for rigid polyhedral objects. We demonstrate that continuous collision detection algorithms are practical in interactive dynamics simulation of complex polyhedral rigid bodies and show how continuous collision detection and efficient constraint-based dynamics algorithms allow us to perform various virtual prototyping tasks intuitively, precisely and robustly on commodity desktop computers. Especially, we present two applications of our system to actual industrial cases. We note that both tasks are performed with a simple 2D mouse on a high-end computer.