Chung, K. An efficient collision detection algorithm for polytopes in virtual environments. Master's thesis, The University of Hong Kong, 1996. http://www.cs.hku.hk /~tlchung /collision library.html.  Home/Search   Document Not in Database   Summary   Related Articles   Check

.... COLLIDE and RAPID in the framework of the VRML specification is described in [44] The fact that the computation of the distance is not actually needed for reporting collision, and that it is not necessary to keep track of the pair of closest points unless a collision actually occurs, is used in [23] to develop Q COLLIDE, a collision detection library also available on the web. The separating vector algorithm efficiently determines whether there exists a separating plane between two convex polyhedra (see Fig. 14) If so, they do not collide. Otherwise, the situation at the previous instant is ....

Chung, K. An efficient collision detection algorithm for polytopes in virtual environments. Master's thesis, The University of Hong Kong, 1996. http://www.cs.hku.hk /~tlchung /collision library.html.

....again, and repeat the process. Upon termination of the algorithm we have two simplices (each representing a feature on a polytope) and a point on each polytope that is the closest point to the other polytope. There are several implementations of Enhanced GJK algorithm available [Camer97a] [Chung96a] [Berge99a] The former implementation is described as the fastest descendent of GJK [Mirti98a] The primary performance gain is achieved through intelligent, rather than brute force, selection of supporting vertices (smart evaluation of the contact function) In a simple implementation, ....

Chung Tat Leung, Kelvin, An Efficient Collision Detection Algorithm for Polytopes in Virtual Environments, M. Phil Thesis, University of Hong Kong, 1996.

....distance by which they penetrate [11] Given two polyhedra, GJK searches for a simplex, defined by four vertices of the Minkowski difference polyhedron, that either encloses or is nearest to the origin. Others have made several improvements on the basic GJK algorithm, mostly to improve efficiency [27, 8, 7]. GJK algorithms are more robust than Lin Canny, and handle the penetration case, but the implementations generally require more floating point operations. The Voronoi clip, or V Clip algorithm is a closest features algorithm that bears a family resemblance to its ancestor, Lin Canny, but which ....

Kelvin Chung. An efficient collision detection algorithm for polytopes in virtual environments. Master's thesis, University of Hong Kong, September 1996.

....objects that need to be considered for collision. Although this software works well for many simultaneously moving objects, the objects are restricted to be convex. More recently, Ponamgi, Manocha, and Lin have generalized this work to include non convex objects [79] More recently, the Q COLLIDE [23] system has greatly improved upon ICOLLIDE by replacing the closest pairs of features algorithm, with a separating vector algorithm, which quickly finds a separating plane between two convex polytopes if they do not intersect. Empirical evidence [23] has shown that Q COLLIDE is significantly ....

....objects [79] More recently, the Q COLLIDE [23] system has greatly improved upon ICOLLIDE by replacing the closest pairs of features algorithm, with a separating vector algorithm, which quickly finds a separating plane between two convex polytopes if they do not intersect. Empirical evidence [23] has shown that Q COLLIDE is significantly faster than I COLLIDE; in some cases it is even an order of magnitude faster. I COLLIDE [24] and Q COLLIDE [23] are designed to work on environments consisting only of convex objects, all of which can move simultaneously. As we are addressing different ....

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K. Chung. An Efficient Collision Detection Algorithm for Polytopes in Virtual Environments. Master of philosophy thesis, CS Dept., U. Hong Kong, 1996.

....and a measure of the penetration is available. Rabbitz advanced the original GJK algorithm by making better use of coherence [25] Q Collide is a collision detection library spawned from I Collide, which replaces Lin Canny with Rabbitz s algorithm for the low level distance computation [6]. It shares I Collide s broad phase detection scheme. Cameron has recently developed the fastest descendent of GJK: it includes mechanisms to exploit coherence, and also uses topological vertex information to more carefully choose new simplices when the current simplices fail to satisfy the ....

Kelvin Chung. An efficient collision detection algorithm for polytopes in virtual environments. Master's thesis, University of Hong Kong, September 1996.

....[17] Rather than explicitly tracking closest points, an additional way to exploit time coherence for convex objects is through witness planes. A plane that separates two objects can be efficiently computed and offers quick testing of separation on following time steps. Baraff [1] and Chung [4] used this concept in collision algorithms. Two main approaches exist to compute collision and distance for general concave objects. The first approach draws upon the work done for convex objects by attempting to decompose the concave object into convex partitions [5] These methods do not usually ....

Chung Tat Leung, Kelvin. An Efficient Collision Detection Algorithm for Polytopes in Virtual Environments. M. Phil Thesis, The University of Hong Kong, 1996.

....objects by decomposing the object into hierarchies of convex objects [23] Gilbert [11] employs the Minkowski difference of two convex objects to determine their minimum separation. With slight modification [3] this method can also provide constant time updates for slowly moving polyhedra. Chung [5] added an efficient means of updating the Minkowski difference to create a collision detection method for convex polyhedra. 2.1.2 General Polygonal Models Quinlan [24] produced an efficient method of finding the minimum separation between general concave polyhedra by exploiting hierarchical, ....

Chung Tat Leung, Kelvin. An Efficient Collision Detection Algorithm for Polytopes in Virtual Environments. M. Phil Thesis, The University of Hong Kong, 1996.

....the Minkowski difference of two convex objects to determine when objects are in contact. Since the Minkowski difference A B is convex if A and B are convex, a search on the difference will converge. When there is no collision, Gilbert s method returns the minimum separation between objects. Chung[14] used this idea along with efficient means of updating the Minkowski difference to create a collision detection method for convex polyhedra. Quinlan[15] has an efficient method of finding the minimum separation between general concave polyhedra. His method is based on sphere trees, which have also ....

Chung Tat Leung, Kelvin. An Efficient Collision Detection Algorithm for Polytopes in Virtual Environments. M. Phil Thesis, The University of Hong Kong, 1996

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