Hierarchical Data Structures and Algorithms for Computer Graphics. Part I.
IEEE Computer Graphics and Applications
An efficient ray-polygon intersection
Graphics gems
A survey of ray tracing acceleration techniques
An introduction to ray tracing
Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Merging BSP trees yields polyhedral set operations
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
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
Approximation hierarchies and S-bounds
SMA '91 Proceedings of the first ACM symposium on Solid modeling foundations and CAD/CAM applications
Voronoi diagrams—a survey of a fundamental geometric data structure
ACM Computing Surveys (CSUR)
Point location in fat subdivisions
Information Processing Letters
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
Fast, minimum storage ray-triangle intersection
Journal of Graphics Tools
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
Spherical shell: a higher order bounding volume for fast proximity queries
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
H-Walk: hierarchical distance computation for moving convex bodies
SCG '99 Proceedings of the fifteenth annual symposium on Computational geometry
Fast penetration depth computation for physically-based animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
Efficient collision detection of complex deformable models using AABB trees
Journal of Graphics Tools
A Framework for Fast and Accurate Collision Detection for Haptic Interaction
VR '99 Proceedings of the IEEE Virtual Reality
Proceedings of the ACM SIGGRAPH/EUROGRAPHICS conference on Graphics hardware
Fast and reliable collision culling using graphics hardware
Proceedings of the ACM symposium on Virtual reality software and technology
DS-RT '07 Proceedings of the 11th IEEE International Symposium on Distributed Simulation and Real-Time Applications
Haptic rendering of complex objects via directional sampling
VRCAI '08 Proceedings of The 7th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
Vision-based hand interaction and its application in pervasive games
Proceedings of the 8th International Conference on Virtual Reality Continuum and its Applications in Industry
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In this paper we present the V-GRAPH, a framework for bounded-time collision detection for point-like haptic interactions. This frame-work employs strategies similar to those used by the Lin-Canny and Dobkin-Kirkpatrick algorithms but, differently from these ones, it uses a partition of the space focused on vertices only, which al-lows both for an easier implementation and for usage with non-convex objects without the need for splitting the original mesh. In a preprocessing phase the mesh is analyzed to extract neighboring information based on Voronoi theory, then this data is used at run-time in a greedy visit exploiting motion coherence to achieve fast proximity queries. Finally standard segment-triangle intersection tests are eventually carried out to identify the exact point of collision. Moreover the framework can be easily extended to multiple levels of detail. Computational analysis and experimental results show that execution times are independent from mesh complexity, achieving same running times even on models composed by mil-lions of polygons. These features make it particularly suited for virtual museum and digital sculpting applications. Implementation is straightforward and freely available tools can be used for pre-processing.