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Penalty approaches can be used to efficiently resolve collisions of dynamically simulated rigid and deformable objects. These methods compute penalty forces based on the penetrati...
Bruno Heidelberger, Matthias Teschner, Richard Kei...
Abstract— We present an incremental algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a “locally optimal solution”...
Minkowski sum is a fundamental operation in many geometric applications, including robotics, penetration depth estimation, solid modeling, and virtual prototyping. However, due to...
Abstract— Existing penalty-based haptic rendering approaches compute penetration depth in strictly translational sense and cannot properly take object rotation into account. We a...