OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Fast collision detection using QuOSPO trees
I3D '99 Proceedings of the 1999 symposium on Interactive 3D graphics
Collision detection for deforming necklaces
Proceedings of the eighteenth annual symposium on Computational geometry
Lectures on Discrete Geometry
Minimal hierarchical collision detection
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
Fast and Robust Smallest Enclosing Balls
ESA '99 Proceedings of the 7th Annual European Symposium on Algorithms
Efficient collision detection of complex deformable models using AABB trees
Journal of Graphics Tools
Proceedings of the ACM SIGGRAPH/EUROGRAPHICS conference on Graphics hardware
Building efficient, accurate character skins from examples
ACM SIGGRAPH 2003 Papers
Bounding Volumes for Linearly Interpolated Shapes
CGI '04 Proceedings of the Computer Graphics International
Interactive and Continuous Collision Detection for Avatars in Virtual Environments
VR '04 Proceedings of the IEEE Virtual Reality 2004
BD-tree: output-sensitive collision detection for reduced deformable models
ACM SIGGRAPH 2004 Papers
Spherical blend skinning: a real-time deformation of articulated models
Proceedings of the 2005 symposium on Interactive 3D graphics and games
Adaptive dynamics of articulated bodies
ACM SIGGRAPH 2005 Papers
Interactive collision detection between deformable models using chromatic decomposition
ACM SIGGRAPH 2005 Papers
Real-Time Collision Detection (The Morgan Kaufmann Series in Interactive 3-D Technology) (The Morgan Kaufmann Series in Interactive 3D Technology)
Bounded normal trees for reduced deformations of triangulated surfaces
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Radial view based culling for continuous self-collision detection of skeletal models
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
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Recently, two algorithms improving the real-time simulation of articulated models in virtual environments have been published: 1) fast collision detection for linear blend skinning and 2) spherical blend skinning. Both linear and spherical blending solve the skinning problem of a skeletally controlled 3D model (e.g., an avatar), but only spherical blending avoids artifacts such as the candy-wrapper. However, to date, fast collision detection has been limited to linear blending. This paper describes how to perform collision detection for models skinned with the more sophisticated spherical method. As a result, both high-quality skinning and fast and exact collision detection can be achieved - there is no longer any need for a trade-off. The generalization from linear to spherical blending involves the construction of rotation bounds, derived using a quaternion representation. The resulting algorithm is simple to implement and fast enough for real-time virtual reality applications.