Ming C. Lin and John F. Canny. Efficient collision detection for animation. In Eurographics Workshop on Simulation and Animation, September 1992.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....may still be non convex. ffl star shaped polyhedra [Toussaint88] this class does not seem to yield any advantage with respect to collision detection. ffl convex polyhedra; this class is probably the smallest reasonable one. It seems to provide the greatest advantage for incremental algorithms [LC92, LC91, LM91] General methods how to speed up collision detection There are several features that can be exploited to speed up collision detection, some of them at the pairwise collision detection level, some of them at the global level, which is concerned with multiple moving objects: ffl All ....

....effort has been put into research on collision detection. To my knowledge, however, most of the algorithms presented so far are meant to be used with animation (in particular, physically based modeling) path planning for robotics, and computational geometry. Only very few of them (e.g. LC92, Hubbard93] are really concerned about algorithms allowing interactive collision detection. Most of the algorithms presented for physically based simulation are too slow for interactive visualization systems, in my opinion. The few results which are presented in the literature seem to confirm ....

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Ming C. Lin and John F. Canny. Efficient Collision Detection for Animation, September 1992.

....experiments suggest that the DOP tree algorithm [Zac98] is to be preferred over Rapid [GLM96] and QuickCD [KHM 98] in most cases, where it is about a factor 2 faster. A probabilistic algorithm for collision detection of convex objects has been presented and compared to the Lin Canny algorithm [LC92] We have found that our probabilistic algorithm performs about twice as fast, while producing only about o oowrong answers. In order to evaluate the importance of the quality of a neighbor finding method versus its speed, we have compared four different methods. Our experiments indicate that ....

Lin, M. C., and Canny, J. F. Efficient collision detection for animation, September 1992.

....when a collision occurs, the precise knowledge of the intersection region is needed, since it will allow a precise computation of subsequent deformations and of response forces. Most of the previous work in collision detection between polygonal models has focused on algorithms for convex polyhedra [1, 8]. These algorithms, based on specific datastructures for finding the closest features of a pair of polyhedra, exploit temporal and geometrical coherence during an animation. They are very efficient: the algorithm in [8] runs in roughly constant time even when the closest features change. However, ....

....between polygonal models has focused on algorithms for convex polyhedra [1, 8] These algorithms, based on specific datastructures for finding the closest features of a pair of polyhedra, exploit temporal and geometrical coherence during an animation. They are very efficient: the algorithm in [8] runs in roughly constant time even when the closest features change. However, they are not applicable in the case of a surgery simulator, since organs are generally non convex, and deform over time. Among the collision detection methods that are applicable to more general polygonal models [10, ....

M. Lin and J. Canny. Efficient collision detection for animation. In Third Eurographics Worshop on Animation and Simulation, Cambridge, England, Sept. 1992.

....maximal velocity (this can be obtained by solving (3) for n) and the segment where the velocity stays constant. 3.3.1.2 Collision Heap At the beginning of the simulation, the expected collision times for all object pairs are computed. The object pairs are then placed into a heap data structure [Lin92] where the object pair with the nearest expected collision time is on the top of the heap. A heap is used since most heap operations take only logarithmic time (namely, O(log p) where p is the number of collision pairs) Sedgewick88] At every iteration (internal time step) the expected ....

Lin M., Canny J., "Efficient Collision Detection for Animation", Third Eurographics Workshop, Cambridge, England, September 1992.

....no two objects will totally pass through each other. Furthermore, the exact time of collision can be found by recursively subdividing the internal time step (binary search) Optimizations Since objects have continuous motion, it is possible to construct a sorted list of possible collision times [Lin92]. Given the distance between two objects, the bounds on the maximum linear velocity and linear acceleration, it is possible to predict the earliest time at which an object pair could collide. Since, in addition, objects have angular velocities, a safe prediction requires the difference between the ....

Lin M., Canny J., "Efficient Collision Detection for Animation", Third Eurographics Workshop, Cambridge, England, September 1992.

....a binary search method through time is used to find the time of collision to within a specified tolerance. 5 3.4 Optimizations 3.4. 1 Scheduling scheme Since objects have continuous motion, it is possible to construct a sorted list of possible collision times (a heap structure is used) [Lin92]. Given the distance between two objects, the bounds on the maximum linear velocity and linear acceleration, it is possible to predict the earliest time at which an object pair could collide. Since in addition objects have angular velocities, the difference between the radius of the inscribed ....

Lin M., Canny J., "Efficient Collision Detection for Animation", Third Eurographics Workshop, Cambridge, England, September 1992.

....frame to update object positions for the renderer. Since this computation is required only when making pictures, we consider it part of the rendering cost. In any event, the expense proves negligible when compared to either the rendering itself or the simulation. A similar method is suggested in [Lin92]. However, their method keeps track of all pairs of objects at all times, thus requiring O(N 2 ) events. 4 Collision Detection When elements intersect, we must analyze the situation with more detailed methods. Sparse analysis can be used as a first pass for most any collision algorithm. Any ....

....situation with more detailed methods. Sparse analysis can be used as a first pass for most any collision algorithm. Any object representation which can be placed in a bounding sphere can be accommodated. For this paper, we have developed a polyhedral collision detector based on work described in [Lin91, Lin92, Lin93]. The method runs quickly and fits easily into the sparse model. 4.1 Lin Canny Distance Calculation The Lin Canny algorithm is based on the geometric properties of convex sets. For a given pair of convex polyhedra, there must exist a line of minimum distance connecting them. This line can be ....

Ming C. Lin and John Canny, "Efficient Collision Detection for Animation," Proceedings Third Eurographics Workshop on Animation and Simulation, 1992

....when a collision occurs, the precise knowledge of the intersection region is needed, since it will allow a precise computation of subsequent deformations and of response forces. Most of the previous work in collision detection between polygonal models has focused on algorithms for convex polyhedra [1, 8]. These algorithms, based on specific datastructures for finding the closest features of a pair of polyhedra, exploit temporal and geometrical coherence during an animation. They are very efficient: the algorithm in [8] runs in roughly constant time even when the closest features change. However, ....

....between polygonal models has focused on algorithms for convex polyhedra [1, 8] These algorithms, based on specific datastructures for finding the closest features of a pair of polyhedra, exploit temporal and geometrical coherence during an animation. They are very efficient: the algorithm in [8] runs in roughly constant time even when the closest features change. However, they are not applicable in the case of a surgery simulator, since organs are generally non convex, and deform over time. Among the collision detection methods that are applicable to more general polygonal models [10, 2, ....

M. Lin and J. Canny. Efficient collision detection for animation. In Third Eurographics Worshop on Animation and Simulation, Cambridge, England, Sept. 1992.

....the door is open) and the hallway area J, but no other areas. By determining which data is relevant to a user and storing only that data in the local database, significant efficiency gains can be made in tasks such as rendering (Airey, Rohlf and Frederick P. Brooks 1990) and collision detection (Lin and Canny 1992). A number of algorithms and data structures have been suggested for significantly reducing the size of the working set (the local database) needed for maintaining realism in an interactive virtual environment ( Funkhouser et al. 1992, Airey et al. 1990, Teller and Sequin 1991) but these ....

Lin, M. C. and Canny, J. F. (1992). Efficient collision detection for animation, 3rd Eurographics Workshop on Animation and Simulation.

....is restricted to polyhedra. The collision detection algorithm in Gilbert, Johnson, and Keerthi[18] is structured so that it can use information previously computed to obtain a faster running time, but this is not a main consideration of the algorithm. Recently, work by Baraff[2] and Lin and Canny[26][27] has Eurographics 93 State of the Art Reports Non penetrating Rigid Body Simulation focused on collision detection methods for dynamic simulation that efficiently reuse previously computed information. In particular, Lin and Canny describe a collision detection algorithm for convex ....

M. Lin and J. Canny. Efficient collision detection for animation. In Third Eurographics Workshop on Animation and Simulation, September 1992.

....forces to the finger forces needed to resist them in the worst case. The criteria have a simple geometric interpretation in the space of generalized forces. Various metrics can be used to define the magnitude of the external force, so that the grasp quality measure can be task dependent. In [LC91, LC92] we described an algorithm for efficiently computing distance between polyhedral objects. For convex objects, the algorithm works in expected constant time when used incrementally. It maintains the pair of closest features between the two objects, and is especially well adapted to incremental use. ....

M. Lin and J. Canny. Efficient collision detection for animation. In Third Eurographics Workshop, 1992.

....a solution to address this problem by an interactive collision detection algorithm that trades accuracy for speed [Hub93] However, exact contact determination is required for realistic simulations, so this tradeoff is not always acceptable. In an early extension of their work Lin and Canny [LC92] proposed a scheduling scheme to handle multiple moving objects. Dworkin and Zeltzer extended this work for a sparse model [DZ93] The model works well for sparse environments only and requires information about time parameterized trajectories of the objects to predict the possible intersection. ....

....has resulted in some efficient collision detection schemes between single pairs of objects [Bar90, Lin93, LM93] 3. 2 Pairwise Collision Detection for Convex Polytopes Here we will review an efficient collision detection algorithm which tracks closest points between pairs of convex polytopes [LC92, Lin93] This algorithm is used at the second level of collision detection to determine the exact contact status between convex polytopes. The method maintains a pair of closest features for each convex polytope pair and calculates the Euclidean distance between the features to detect collisions. ....

[Article contains additional citation context not shown here]

M.C. Lin and John F. Canny. Efficient collision detection for animation. In Proceedings of the Third Eurographics Workshop on Animation and Simulation, 1992. Cambridge, England.

....a solution to address this problem by an interactive collision detection algorithm that trades accuracy for speed [Hub93] However, exact contact determination is required for realistic simulations, so this tradeoff is not always acceptable. In an early extension of their work Lin and Canny [LC92] proposed a scheduling scheme to handle multiple moving objects. Dworkin and Zeltzer extended this work for a sparse model [DZ93] The model works well for sparse environments only and requires information about time parameterized trajectories of the objects to predict the possible intersection. ....

....has resulted in some efficient collision detection schemes between single pairs of objects [Bar90, Lin93, LM93] 3. 2 Pairwise Collision Detection for Convex Polytopes Here we will review an efficient collision detection algorithm which tracks closest points between pairs of convex polytopes [LC92, Lin93] This algorithm is used at the second level of collision detection to determine the exact contact status between convex polytopes. The method maintains a pair of closest features (vertex, edge, or face) for each convex polytope pair and calculates the Euclidean distance between the ....

[Article contains additional citation context not shown here]

M.C. Lin and John F. Canny. Efficient collision detection for animation. In Proceedings of the Third Eurographics Workshop on Animation and Simulation, 1992. Cambridge, England.

....forces to the finger forces needed to resist them in the worst case. The criteria have a simple geometric interpretation in the space of generalized forces. Various metrics can be used to define the magnitude of the external force, so that the grasp quality measure can be task dependent. In [35, 36] we described an algorithm for efficiently computing distance between polyhedral objects. For convex objects, the algorithm works in expected constant time when used incrementally. It maintains the pair of closest features between the two objects, and is especially well adapted to incremental use. ....

M. Lin and J. Canny. Efficient collision detection for animation. In Third Eurographics Workshop, 1992.

....address the issue of collision detection in a virtual environment which requires performance at interactive rates for thousands of pairwise tests. Hubbard has proposed a solution to address this problem by trading accuracy for speed [14] In an early extension of their work, Lin and Canny [16] proposed a scheduling scheme to handle multiple moving objects. Dworkin and Zeltzer extended this work for a sparse model [7] 3 BACKGROUND In this section, we highlight the importance of coherence in dynamic environments. We briefly review the algorithm for exact pairwise collision detection ....

....of the interior in E 3 . steps are small enough that the objects to do not travel large distances between frames. 3. 2 Pairwise Collision Detection for Convex Polytopes We briefly review the Lin Canny collision detection algorithm which tracks closest points between pairs of convex polytopes [16, 17]. This algorithm is used at the lowest level of collision detection to determine the exact contact status between convex polytopes. The method maintains a pair of closest features for each convex polytope pair and calculates the Euclidean distance between the features to detect collisions. This ....

M. Lin and J. Canny. Efficient collision detection for animation. In Proceedings of the Third Eurographics Workshop on Animation and Simulation, Cambridge, England, 1991.

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Ming C. Lin and John F. Canny. Efficient collision detection for animation. In Eurographics Workshop on Simulation and Animation, September 1992.

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Ming C. Lin, and John F. Canny. Efficient collision detection for animation, September 1992.

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LIN M. C., CANNY J. F.: Efficient Collision Detection for Animation. In Proc. 3rd Eurographics Workshop on Animation and Simulation (1992). 126

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M. Lin and J. Canny, "Efficient Collision Detection for Animation, " in Proc. 3rd EG Anim. & Sim. Workshop, 1992.

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Lin M., Canny J., "Efficient Collision Detection for Animation", Proceedings of the Third Eurographics Workshop on Animation and Simulation , 1992

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Lin M., Canny J., "Efficient Collision Detection for Animation", Proceedings of the Third Eurographics Workshop on Animation and Simulation, 1992

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M. Lin and J. Canny, "Efficient collision detection for animation", in Third Eurographics Workshop on Animation and Simulation Proceedings, (Cambridge, UK), (September 1992).

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