Title :
Continuous collision detection for non-rigid contact computations using local advancement
Author :
Tang, Min ; Kim, Young J. ; Manocha, Dinesh
Author_Institution :
Dept. of Comput. Sci. & Eng., Ewha Womans Univ., Seoul, South Korea
Abstract :
We present a novel algorithm to perform continuous collision detection(CCD) between non-rigid, deformable models using local advancement. Given the initial and final configurations of a deformable model, our algorithm computes linear deformation by interpolating the vertices from the initial to the final configurations with a straight line path and checks for collision along that path. Our approach is applicable to polygon-soup models with arbitrary topology, handles self-collisions and makes no assumption about the underlying non-rigid motion. We accelerate the algorithm by computing motion bounds on the primitives and their bounding volumes. These bounds are combined with hierarchical culling techniques and used for fast collision checking. In practice, we have observed up to four times improvement in running time because of local advancement.
Keywords :
collision avoidance; mobile robots; topology; arbitrary topology; collision checking; continuous collision detection; deformable model; hierarchical culling technique; linear deformation; local advancement; nonrigid contact computation; polygon-soup model; Acceleration; Charge coupled devices; Computer science; Deformable models; Grasping; Performance evaluation; Robotics and automation; Testing; Topology; USA Councils;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509210