Incremental algorithms for collision detection between solid models

: Fast and accurate collision detection between general solid models is a fundamental problem in solid modeling, robotics, animation and computer-simulated environments. Most of the earlier algorithms are either restricted to a class of solid models, say convex polytopes, or are not fast enough for practical applications. We present an incremental algorithm for collision detection between general B-rep solid models in dynamic environments. The algorithm combines a hierarchical representation with incremental frame to frame computation to rapidly detect collisions. It makes use of coherence between successive instances to determine e ciently the number of object features interacting. For each pair of objects, it tracks the closest features between them on their respective convex hulls using the LC91 algorithm. It detects when these objects penetrate using a new psuedo-internal Voronoi data structure and constructs the penetration region, identifying the regions of contact on the convex ...

• Type: Conference
• Year: 1995
• Where: SMA
• Authors: Madhav K. Ponamgi, Dinesh Manocha, Ming C. Lin
• Keywords: Algorithm, Collision Detection, SMA 1995, Solid Modeling, Solid Models