Hierarchical and controlled advancement for continuous collision detectionof rigid and articulated models

Min Tang, Dinesh Manocha, Young J. Kim

Research output: Contribution to journalArticlepeer-review

13 Scopus citations

Abstract

We present fast CCD algorithm for general rigid and articulated models based on conservative advancement. We have implemented the CCD algorithm with two different acceleration techniques which can handle rigid models, and have extended one of them to articulated models. The resulting algorithms take a few milliseconds for rigid models with tens of thousands of triangles, and a few milliseconds for articulated models with tens of links. We show that the performance of our algorithms is much faster than existing CCD algorithms for polygon-soup models and it is also comparable to competing CCD algorithms that are limited to manifold models. The preliminary version of this paper appeared in.

Original languageEnglish
Article number6684141
Pages (from-to)755-766
Number of pages12
JournalIEEE Transactions on Visualization and Computer Graphics
Volume20
Issue number5
DOIs
StatePublished - May 2014

Keywords

  • Continuous collision detection
  • conservative advancement
  • distance computation

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