NDLI: Fast continuous collision detection for articulated models

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Fast continuous collision detection for articulated models

Content Provider	ACM Digital Library
Author	Lin, Ming C. Redon, Stephane Manocha, Dinesh Kim, Young J.
Abstract	We present a novel algorithm to perform continuous collision detection for articulated models. Given two discrete configurations of the links of an articulated model, we use an "arbitrary in-between motion" to interpolate its motion between two successive time steps and check the resulting trajectory for collisions. Our approach uses a three-stage pipeline: (1) dynamic bounding-volume hierarchy (D-BVH) culling based on interval arithmetic; (2) culling refinement using the swept volume of line swept sphere (LSS) and graphics hardware accelerated queries; (3) exact contact computation using OBB-trees and continuous collision detection between triangular primitives. The overall algorithm computes the time of collision, contact locations and prevents any interpenetration between the articulated model with the environment. We have implemented the algorithm and tested its performance on a 2.4 GHz Pentium PC with 1 Gbyte of RAM and a NVIDIA GeForce FX 5800 graphics card. In practice, our algorithm is able to perform accurate and continuous collision detection between articulated models and complex environments at nearly interactive rates.
Starting Page	145
Ending Page	156
Page Count	12
File Format	PDF
ISBN	390567355X
ISSN	18117783
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2004-06-09
Publisher Place	Goslar
Access Restriction	Subscribed
Content Type	Text
Resource Type	Article

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