scholarly journals Fast Continuous Collision Detection for Articulated Models

2005 ◽  
Vol 5 (2) ◽  
pp. 126-137 ◽  
Author(s):  
Stephane Redon ◽  
Ming C. Lin ◽  
Dinesh Manocha ◽  
Young J. Kim
Keyword(s):  
Collision Detection ◽  
Graphics Hardware ◽  
Complex Environments ◽  
Bounding Volume ◽  
Continuous Collision Detection ◽  
Articulated Model ◽  
Articulated Models ◽  
Swept Volume ◽  
Bounding Volume Hierarchy ◽  
Novel Algorithm

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 spheres (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 and contact locations, and prevents any interpenetration between the articulated model and the environment. We have implemented the algorithm and tested its performance on a 2.4GHz Pentium PC with 1Gbyte 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 modestly complex environments at nearly interactive rates.

Interactive Continuous Collision Detection Using Swept Volume for Avatars

2007 ◽  
Vol 16 (2) ◽  
pp. 206-223 ◽  
Author(s):  
Young J Kim ◽  
Stephane Redon ◽  
Ming C Lin ◽  
Dinesh Manocha ◽  
Jim Templeman
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Graphics Hardware ◽  
Prototype System ◽  
Bounding Volume ◽  
Interactive Algorithm ◽  
Close Proximity ◽  
Continuous Collision Detection ◽  
Swept Volumes ◽  
Swept Volume

We present an interactive algorithm for continuous collision detection between a moving avatar and its surrounding virtual environment. Our algorithm is able to compute the first time of contact between the avatar and the environment interactively, and also guarantees within a user-provided error threshold that no collision ever happens before the first contact occurs. We model the avatar as an articulated body using line skeletons with constant offsets and the virtual environment as a collection of polygonized objects. Given the position and orientation of the avatar at discrete time steps, we use an arbitrary in-between motion to interpolate the path for each link between discrete instances. We bound the swept space of each link using interval arithmetic and dynamically compute a bounding volume hierarchy (BVH) to cull links that are not in close proximity to the objects in the virtual environment. The swept volumes (SVs) of the remaining links are used to check for possible interference and estimate the time of collision between the surface of the SV and the rest of the objects. Furthermore, we use graphics hardware to accelerate collision queries on the dynamically generated swept surfaces. Our approach requires no precomputation and is applicable to general articulated bodies that do not contain a loop. We have implemented the algorithm on a 2.8 GHz Pentium IV PC with an NVIDIA GeForce 6800 Ultra graphics card and applied it to an avatar with 16 links, moving in a virtual environment composed of hundreds of thousands of polygons. Our prototype system is able to detect all contacts between the moving avatar and the environment in 10–30 ms.

Hybrid Bounding Volume Hierarchy Tree (HBVHT) Algorithm for Collision Detection of Articulated Model Robot

2014 ◽  
Vol 13 (10) ◽  
pp. 1723-1729 ◽  
Author(s):  
Lin Chen ◽  
Jun Dai ◽  
Junjie Feng ◽  
Bing Fu ◽  
Haihong Pan
Keyword(s):  
Collision Detection ◽  
Bounding Volume ◽  
Articulated Model ◽  
Bounding Volume Hierarchy

Efficient collision detection using a dual OBB-sphere bounding volume hierarchy

2010 ◽  
Vol 42 (1) ◽  
pp. 50-57 ◽  
Author(s):  
Jung-Woo Chang ◽  
Wenping Wang ◽  
Myung-Soo Kim
Keyword(s):  
Collision Detection ◽  
Bounding Volume ◽  
Bounding Volume Hierarchy

Research on Scene Organize Algorithm Based on BVH with Dynamic Rendering Tree

2014 ◽  
Vol 596 ◽  
pp. 370-373
Author(s):  
Li Xu ◽  
Mao Zhen Liu
Keyword(s):  
Real Time ◽  
Collision Detection ◽  
Visual Effect ◽  
The Real ◽  
Scale Factors ◽  
Bounding Volume ◽  
Scene Management ◽  
Tree Construction ◽  
3D Scene ◽  
Bounding Volume Hierarchy

: The real-time rendering of 3D scene need excellent algorithm to support scene management. After considering the algorithm complexity and scene scale factors, combining the advantages of Bounding Volume Hierarchy (BVH) and rendering tree in scene management, this paper puts forward a kind of scene organize algorithm, to solve the problem of render states redundant calculation when using BVH technology to solve the problem of deformable collision detection, by choosing the appropriate strategy of Hierarchy Bounding Volume tree construction and optimizing rendering tree of the scene. Experiments prove the proposed algorithm can effectively improve the rendering efficiency of 3D scene, enhance the visual effect.

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