Enhancing Haptic Rendering through Predictive Collision Detection
VMR '09 Proceedings of the 3rd International Conference on Virtual and Mixed Reality: Held as Part of HCI International 2009
Data structures for interactive high resolution level-set surface editing
Proceedings of Graphics Interface 2011
VolCCD: Fast continuous collision culling between deforming volume meshes
ACM Transactions on Graphics (TOG)
Accelerating physics in large, continuous virtual environments
Concurrency and Computation: Practice & Experience
Technical note: Fast and robust Booleans on polyhedra
Computer-Aided Design
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We present a new, efficient and easy to use collision detection scheme for real-time collision detection between highly deformable tetrahedral models. Tetrahedral models are a common representation of volumetric meshes which are often used in physically based simulations, e.g. in virtual surgery. In a deformable models environment collision detection usually is a performance bottleneck since the data structures used for efficient intersection tests need to be rebuilt or modified frequently. Our approach minimizes the time needed for building a collision detection data structure. We employ an infinite hierarchical spatial grid in which for each single tetrahedron in the scene a well fitting grid cell size is computed. A hash function is used to project occupied grid cells into a finite 1D hash table. Only primitives mapped to the same hash index indicate a possible collision and need to be checked for intersections. This results in a high performance collision detection algorithm which does not depend on user defined parameters and thus flexibly adapts to any scene setup.