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
Interactive inspection of solids: cross-sections and interferences
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
A fast triangle-triangle intersection test
Journal of Graphics Tools
Fast computation of generalized Voronoi diagrams using graphics hardware
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Fast and simple 2D geometric proximity queries using graphics hardware
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
Incremental Algorithms for Collision Detection Between Polygonal Models
IEEE Transactions on Visualization and Computer Graphics
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
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
RECODE: An Image-based Collision Detection Algorithm
PG '98 Proceedings of the 6th Pacific Conference on Computer Graphics and Applications
Proceedings of the ACM SIGGRAPH/EUROGRAPHICS conference on Graphics hardware
BD-tree: output-sensitive collision detection for reduced deformable models
ACM SIGGRAPH 2004 Papers
Fast collision detection between massive models using dynamic simplification
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Interactive collision detection between deformable models using chromatic decomposition
ACM SIGGRAPH 2005 Papers
Fast and reliable collision culling using graphics hardware
Proceedings of the ACM symposium on Virtual reality software and technology
Quick-CULLIDE: Fast Inter- and Intra-Object Collision Culling Using Graphics Hardware
VR '05 Proceedings of the 2005 IEEE Conference 2005 on Virtual Reality
Accurate on-line avatar control with collision anticipation
Proceedings of the 2007 ACM symposium on Virtual reality software and technology
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We present a fast collision culling algorithm for performing inter- and intra-object collision detection among complex models using graphics hardware. Our algorithm utilizes visibility queries on the GPUs to eliminate a subset of geometric primitives that are not in close proximity and computes a potentially colliding set (PCS) of primitives. We perform no precomputation and the algorithm proceeds in multiple stages: object-level PCS computation, subobject level PCS computation, followed by exact collision detection. We extend our PCS computation algorithm to perform intra-object or self-collisions between complex models. Furthermore, we describe a novel visibility-based classification scheme to reduce the size of potentially-colliding sets of objects and primitives, and the number of visibility queries for further improving the performance and culling efficiency. We have implemented our algorithm on a PC with an NVIDIA GeForce FX 6800 Ultra graphics card and applied it to three complex simulations, each consisting of objects with tens of thousands of triangles. In practice, we are able to compute all the self-collisions for cloth simulation up to image-space precision at interactive rates.