We perform continuous collision detection (CCD) for articulated bodies where motion is governed by an adaptive dynamics simulation. Our algorithm is based on a novel hierarchical set of transforms that represent the kinematics of an articulated body recursively, as described by an assembly tree. The performance of our CCD algorithm significantly improves as the number of active degrees of freedom in the simulation decreases.
- Adaptive dynamics
- Articulated body dynamics
- Continuous collision detection
- Interval arithmetic