KRISHNAN S., GOPI M., LIN M., MANOCHA D., PATTEKAR A.: Rapid and accurate contact determination between spline models using ShellTrees. Computer Graphics Forum 17, 3 (Sept. 1998). 121  Home/Search   Document Details and Download   Summary   Related Articles   Check

....rejection or acceptance is needed, the update time needed for these approximations is likely to add an unacceptable additional burden. This approach is a generalisation of AABBs (which are actually 6 dops) and therefore also suffers from the need for dynamic updating of the nodes. ShellTrees [Krishnan et al. 1998a,b] These trees consist of oriented bounding boxes and spherical shells, which enclose curved surfaces such as Bezier patches and NURBS. They are particularly suited to collision detection between the higher order surface representations discussed in the previous section. Swept Sphere Volumes ....

Krishnan, S. Gopi, M. Lin, M. Manocha, D. Pattekar, A. Rapid and Accurate Contact Determination between Spline Models using ShellTrees. Proceedings Eurographics 1998. 315-326

....bounding boxes, and normal bounds are represented by normal cones [18] Researchers have established that the performance of collision detection algorithms benefits greatly from using tighter spatial and normal bounds. In particular we believe that our approach would benefit from using ShellTrees [19] or QuOSPO trees [14] as spatial bounds, since they have superior convergence properties compared to AABBs. Similarly we would benefit from using convex pyramids [9, 28] to represent normal bounds. For the examples we present in this paper, the collision detection time ranges from 0.1 s to 30 s. ....

....a central element in a large number of algorithms related to interference detection [3, 5, 10, 16, 18, 22] We demonstrated an example application of these bounds to self collision detection. In future work we hope to include more optimizations for other parts of the collision detection algorithm [9, 14, 19, 28] and pursue stable collision response methods in the context of thin shell modeling. Acknowledgements The research reported here was supported in part through NSF (DMS 9874082, DMS 9872890, ACI9982273) the Packard Foundation, Pixar, Alias Wavefront, Intel, and Lucent. Special thanks to Adi ....

KRISHNAN, S., GOPI, M., LIN, M., MANOCHA, D., AND PATTEKAR,A. Rapid and accurate contact determination between spline models using shelltrees. Computer Graphics Forum 17, 3 (1998), 315--326.

....bounding volumes) are rotated and translated in the scene. Unfortunately, as recognized in [40] these objectives are usually in conflict, so a balance among them must be reached. Commonly used object partitioning representations use hierarchies of spheres [26,56,69,65,43] or spherical shells [8,50] for bounding at different resolution levels. Inner and outer bounds are often used. Volume bounding strategies can be used in conjunction with boundary representations. Hierarchies of volumes enclosing boundary features permit focussing on those susceptible 18 of interfering. Thus, octrees have ....

Krishnan, S., Gopi, M., Lin, M., Manocha, D., and Pattekar, A. Rapid and accurate contact determination between spline models using shelltrees. In Eurographics'98 (Leeds (UK), Mar. 1998).

....with a small number of highly complex objects, for the purposes of haptic force feedback. If there are a large number of objects between which fast rejection or acceptance is needed, the update time needed for these approximations is likely to add an unacceptable additional burden. ShellTrees [Krishnan et al. 1998, a, b] These trees consist of oriented bounding boxes and spherical shells, which enclose curved surfaces such as Bezier patches and NURBS. They are particularly suited to collision detection between the higherorder surface representations discussed in the previous section. 2.2.3 Broad Phase ....

Krishnan, S. Gopi, M. Lin, M. Manocha, D. Pattekar, A. Rapid and Accurate Contact Determination between Spline Models using ShellTrees. Eurographics Association, 1998.

....the areas where the actual collision occurred. Such representations approximate the topology of an object at different levels of detail. These include Sphere Trees [Palmer and Grimsdale 1995] Hubbard 1995,1996] Quinlan 1994] OBB trees (Oriented Bounding Boxes) Gottschalk et al. 1995] ShellTrees [Krishnan et al. 1998], and hierarchies of k DOPs (Discrete Orientation Polytopes) Klosowski et al. 1997] Most of these algorithms are actually hybrid algorithms, involving two or more phases of detection at varying degrees of accuracy. The broad phase is where approximate intersections are detected, eliminating ....

Krishnan, S. Gopi, M. Lin, M. Manocha, D. Pattekar, A. Rapid and Accurate Contact Determination Between Spline Models using ShellTrees. in Proceedings of Eurographics'98.

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S. Krishnan, M. Gopi, M. Lin, D. Manocha, and A. Pattekar. Rapid and accurate contact determination between spline models using shelltrees. Computer Graphcis Forum, 17:C315--C326, 1998.

....et al. 3] have also used oriented bounding boxes for computing hierarchical representations of surfaces for performing collision detection. Klosowski et al. 21,22]have used discrete orientation polytopes (k dops) which also are superior approximations to bounded geometry. Krishnas et al. [25,23]have proposed a higher order bounding volume, designed to match curvature of the underlying 3D geometry, especially suited for B ezier patches and NURBS. 3.2 Algorithms for Non Polygonal Objects In geometric and solid modeling, the problem of computing the intersection of surfaces represented as ....

....and virtual prototyping applications. It can robustly and accurately detect all the contacts between large complex geometry composed of hundreds of thousands of polygons at interactive rates. 5. 3 Contact Determination Between Spline Models Weintroduce hierarchies based on spherical shells [25, 23] and use them for proximity queries. A spherical shell corresponds to a portion of the volume between two concentric spheres and encloses the underlying geometry. We devise efficient algorithms to compute such volumes and fast overlap tests between two shells. The overlap test is only slower by a ....

Krishnan, S., Gopi, M., Lin, M. C., Manocha, D. and Pattekar, A. (1998). Rapid and Accurate Contact Determination between Spline Models using ShellTrees, in the Proceedings of Eurographics'98, 1998.

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S. Krishnan, M. Gopi, M. Lin, D. Manocha, and A. Pattekar. Rapid and accurate contact determination between spline models using shelltrees. In Proc. of Eurographics'98, 1998.

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S. Krishnan, M. Gopi, M. Lin, D. Manocha, and A. Pattekar. Rapid and accurate contact determination between spline models using shelltrees. In Proc. of Eurographics'98, 1998. To appear.

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KRISHNAN S., GOPI M., LIN M., MANOCHA D., PATTEKAR A.: Rapid and accurate contact determination between spline models using ShellTrees. Computer Graphics Forum 17, 3 (Sept. 1998). 121

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S. Krishnan, M. Gopi, M. Lin, D. Manocha, and A. Pattekar. Rapid and accurate contact determination between spline models using ShellTrees. Computer Graphics Forum, 17(3):315-326, 1998.

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S. Krishnan, M. Gopi, M. Lin, D. Manocha, and A. Pattekar. Rapid and accurate contact determination between spline models using shelltrees. In M. Gbel and F. Nunes Ferreira, editors, Proceedings Eurographics '98, volume 17 of Computer Graphics Forum, pages C315--C326. Blackwell Publishers, September 1998. ISSN 0167-7055.

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