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Abstract: : We present a framework for fast and accurate collision detection for haptic interaction with polygonal models. Given a model, we pre-compute a hybrid hierarchical representation, consisting of uniform grids (represented using a hash table) and trees of tight-fitting oriented bounding box trees (OBBTrees). At run time, we use hybrid hierarchical representations and exploit frame-to-frame coherence for fast proximity queries. We present a new overlap test, which is specialized for intersection... (Update)
Context of citations to this paper: More
.... and need to perform distance queries in less than a millisecond on large models composed of tens of thousands of polygons [GLGT99] Most randomized motion planners spend more than 90 of the overall time in distance computation routines [HKL 98, Lat96] Algorithms...
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BibTeX entry: (Update)
Gregory, A., Lin, M., Gottschalk, S., Taylor, R., "H-Collide: A Framework for Fast and Accurate Collision Detection for Haptic Interaction," UNC Report, currently unpublished, 1998. http://citeseer.ist.psu.edu/gregory98hcollide.html More
@techreport{ gregory98hcollide,
author = "Arthur Gregory and Ming Lin and Stefan Gottschalk and Russell Taylor",
title = "{H}-{COLLIDE}: {A} Framework for Fast and Accurate Collision Detection for Haptic Interaction",
number = "TR98-032",
month = "3,",
year = "1998",
url = "citeseer.ist.psu.edu/gregory98hcollide.html" }
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