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Hierarchical and Controlled Advancement for Continuous Collision Detectionof Rigid and Articulated Models
May 2014 (vol. 20 no. 5)
pp. 755-766
Young J. Kim, Department of Computer Engineering , Ewha Womans University, New Engineering Building 559, 11-1 Daehyun-Dong Seodaemun-Gu, South Korea
Dinesh Manocha, Department of Computer Science at the University of North Carolina at Chapel Hill, Chapel Hill,
Min Tang, Department of Computer Engineering , Ewha Womans University, New Engineering Building 559, 11-1 Daehyun-Dong Seodaemun-Gu, South Korea
We present fast CCD algorithm for general rigid and articulated models based on conservative advancement. We have implemented the CCD algorithm with two different acceleration techniques which can handle rigid models, and have extended one of them to articulated models. The resulting algorithms take a few milliseconds for rigid models with tens of thousands of triangles, and a few milliseconds for articulated models with tens of links. We show that the performance of our algorithms is much faster than existing CCD algorithms for polygon-soup models and it is also comparable to competing CCD algorithms that are limited to manifold models. The preliminary version of this paper appeared in .
Index Terms:
Charge coupled devices,Computational modeling,Solid modeling,Trajectory,Vectors,Planning,Mathematical model,distance computation,Continuous collision detection,conservative advancement
Citation:
Young J. Kim, Dinesh Manocha, Min Tang, "Hierarchical and Controlled Advancement for Continuous Collision Detectionof Rigid and Articulated Models," IEEE Transactions on Visualization and Computer Graphics, vol. 20, no. 5, pp. 755-766, May 2014, doi:10.1109/TVCG.2013.266
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