Efficient collision detection for moving ellipsoids using separating planes

Authors:
W. Wang;Y.-K. Choi;B. Chan;M-S. Kim;J. Wang
Affiliations:
Department of Computer Science and Information Systems, The University of Hong Kong, Hong Kong, China;Department of Computer Science and Information Systems, The University of Hong Kong, Hong Kong, China;Department of Computer Science and Information Systems, The University of Hong Kong, Hong Kong, China;School of Computer Science and Engineering, Institute of Computer Technology, Seoul National University, Seoul, Korea;Department of Computer Science, Shandong Uinversity, Jinan, China
Venue:
Computing - Geometric modelling dagstuhl 2002
Year:
2004

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Abstract

We present a simple, accurate and efficient algorithm for collision detection among moving ellipsoids. Its efficiency is attributed to two results: (i) a simple algebraic test for the separation of two ellipsoids, and (ii) an efficient method for constructing a separating plane between two disjoint ellipsoids. Inter-frame coherence is exploited by using the separating plane to reduce collision detection to simpler subproblems of testing for collision between the plane and each of the ellipsoids. Compared with previous algorithms (such as the GJK method) which employ polygonal approximation of ellipsoids, our algorithm demonstrates comparable computing speed and much higher accuracy.