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280
Octrees for faster isosurface generation
- IEEE TRANSACTIONS ON MEDICAL IMAGING
, 2000
"... The large size of many volume data sets often prevents visualization algorithms from providing interactive rendering. The use of hierarchical data structures can ameliorate this problem by storing summary information to prevent useless exploration of regions of little or no current interest within ..."
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Cited by 322 (3 self)
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The large size of many volume data sets often prevents visualization algorithms from providing interactive rendering. The use of hierarchical data structures can ameliorate this problem by storing summary information to prevent useless exploration of regions of little or no current interest within the volume. This paper discusses research into the use of the octree hierarchical data structure when the regions of current interest can vary during the application, and are not known a priori. Octrees are well suited to the six-sided cell structure of many volumes. A new space-efficient design is introduced for octree representations of volumes whose resolutions are not conveniently a power of two; octrees following this design are called branch-on-need octrees (BONOs). Also, a caching method is described that essentially passes information between octree neighbors whose visitation times may be quite different, then discards it when its useful life is over. Using the application of octrees to isosurface generation as a focus, space and time comparisons for octree-based versus more traditional "marching" methods are presented.
I-COLLIDE: An interactive and exact collision detection system for large-scale environments
- In Proc. of ACM Interactive 3D Graphics Conference
, 1995
"... We present an exact and interactive collision detection system, I-COLLIDE, for large-scale environments. Such environments are characterized by the number of objects undergoing rigid motion and the complexity of the mod-els. The algorithm does not assume the objects ’ motions can be expressed as a c ..."
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Cited by 322 (24 self)
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We present an exact and interactive collision detection system, I-COLLIDE, for large-scale environments. Such environments are characterized by the number of objects undergoing rigid motion and the complexity of the mod-els. The algorithm does not assume the objects ’ motions can be expressed as a closed form function of time. The collision detection system is general and can be easily in-terfaced with a variety of applications. The algorithm uses a two-level approach based on pruning multiple-object pairs using bounding boxes and performing exact collision detection between selected pairs of polyhedral models. We demonstrate the performance of the system in walkthrough and simulation environments consisting of a large number of moving objects. In particular, the system takes less than l/20 of a second to determine all the collisions and contacts in an environment consisting of more than a 1000 moving polytopes, each consisting of more than 50 faces on an HP-9000/750. 1
Robust treatment of collisions, contact and friction for cloth animation
- ACM Transactions on Graphics
, 2002
"... We present an algorithm to efficiently and robustly process collisions, contact and friction in cloth simulation. It works with any technique for simulating the internal dynamics of the cloth, and allows true modeling of cloth thickness. We also show how our simulation data can be post-processed wit ..."
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Cited by 300 (28 self)
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We present an algorithm to efficiently and robustly process collisions, contact and friction in cloth simulation. It works with any technique for simulating the internal dynamics of the cloth, and allows true modeling of cloth thickness. We also show how our simulation data can be post-processed with a collision-aware subdivision scheme to produce smooth and interference free data for rendering.
Efficient collision detection using bounding volume hierarchies of k-dops
- IEEE Transactions on Visualization and Computer Graphics
, 1998
"... Abstract—Collision detection is of paramount importance for many applications in computer graphics and visualization. Typically, the input to a collision detection algorithm is a large number of geometric objects comprising an environment, together with a set of objects moving within the environment ..."
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Cited by 290 (4 self)
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Abstract—Collision detection is of paramount importance for many applications in computer graphics and visualization. Typically, the input to a collision detection algorithm is a large number of geometric objects comprising an environment, together with a set of objects moving within the environment. In addition to determining accurately the contacts that occur between pairs of objects, one needs also to do so at real-time rates. Applications such as haptic force-feedback can require over 1,000 collision queries per second. In this paper, we develop and analyze a method, based on bounding-volume hierarchies, for efficient collision detection for objects moving within highly complex environments. Our choice of bounding volume is to use a “discrete orientation polytope” (“k-dop”), a convex polytope whose facets are determined by halfspaces whose outward normals come from a small fixed set of k orientations. We compare a variety of methods for constructing hierarchies (“BV-trees”) of bounding k-dops. Further, we propose algorithms for maintaining an effective BV-tree of k-dops for moving objects, as they rotate, and for performing fast collision detection using BV-trees of the moving objects and of the environment. Our algorithms have been implemented and tested. We provide experimental evidence showing that our approach yields substantially faster collision detection than previous methods. Index Terms—Collision detection, intersection searching, bounding volume hierarchies, discrete orientation polytopes, bounding boxes, virtual reality, virtual environments. 1
Analytical methods for dynamic simulation of non-penetrating rigid bodies
- In Proc. of ACM SIGGRAPH ’89
, 1989
"... A method for analytically calculating the forces between systems of rigid bodies in resting (non-colliding) contact is presented. The systems of bodies may either be in motion or static equilibrium and adjacent bodies may touch at multiple points. The analytic formulation of the forces between bodie ..."
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Cited by 236 (9 self)
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A method for analytically calculating the forces between systems of rigid bodies in resting (non-colliding) contact is presented. The systems of bodies may either be in motion or static equilibrium and adjacent bodies may touch at multiple points. The analytic formulation of the forces between bodies in non-colliding contact can be modified to deal with colliding bodies. Accordingly, an improved method for analytically calculating the forces between systems of rigid bodies in colliding contact is also presented. Both methods can be applied to systems with arbitrary holonomic geometric constraints, such as linked figures. The analytical formulations used treat both holonomic and non-holonomic constraints in a consistent manner.
Approximating Polyhedra with Spheres for Time-Critical Collision Detection
- ACM Transactions on Graphics
, 1996
"... This paper presents a method for approximating polyhedral objects to support a timecritical collision-detection algorithm. The approximations are hierarchies of spheres, and they allow the time-critical algorithm to progressively refine the accuracy of its detection, stopping as needed to maintain ..."
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Cited by 212 (1 self)
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This paper presents a method for approximating polyhedral objects to support a timecritical collision-detection algorithm. The approximations are hierarchies of spheres, and they allow the time-critical algorithm to progressively refine the accuracy of its detection, stopping as needed to maintain the real-time performance essential for interactive applications. The key to this approach is a preprocess that automatically builds tightly fitting hierarchies for rigid and articulated objects. The preprocess uses medial-axis surfaces, which are skeletal representations of objects. These skeletons guide an optimization technique that gives the hierarchies accuracy properties appropriate for collision detection. In a sample application, hierarchies built this way allow the time-critical collision-detection algorithm to have acceptable accuracy, improving significantly on that possible with hierarchies built by previous techniques. The performance of the time-critical algorithm in this appli...
Collision detection for interactive graphics applications
- IEEE Trans. on Visualization and Computer Graphics
, 1995
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Physically based motion transformation
- In Proceedings of ACM SIGGRAPH 99. Computer Graphics Proceedings
, 1999
"... We introduce a novel algorithm for transforming character anima-tion sequences that preserves essential physical properties of the motion. By using the spacetime constraints dynamics formulation our algorithm maintains realism of the original motion sequence without sacrificing full user control of ..."
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Cited by 203 (6 self)
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We introduce a novel algorithm for transforming character anima-tion sequences that preserves essential physical properties of the motion. By using the spacetime constraints dynamics formulation our algorithm maintains realism of the original motion sequence without sacrificing full user control of the editing process. In contrast to most physically based animation techniques that synthesize motion from scratch, we take the approach of motion transformation as the underlying paradigm for generating computer animations. In doing so, we combine the expressive richness of an input animation sequence with the controllability of spacetime op-timization to create a wide range of realistic character animations. The spacetime dynamics formulation also allows editing of intu-itive, high-level motion concepts such as the time and placement of footprints, length and mass of various extremities, number of body joints and gravity. Our algorithm is well suited for the reuse of highly-detailed cap-tured motion animations. In addition, we describe a new methodol-ogy for mapping a motion between characters with drastically dif-ferent numbers of degrees of freedom. We use this method to re-duce the complexity of the spacetime optimization problems. Fur-thermore, our approach provides a paradigm for controlling com-plex dynamic and kinematic systems with simpler ones.
GraspIt! -- A Versatile Simulator for Robotic Grasping
, 2004
"... Research in robotic grasping has flourished in the last 25 years. A recent survey by Bicchi [1] covered over 140 papers, and many more than that have been published. Stemming from our desire to implement some of the work in grasp analysis for particular hand designs, we created an interactive graspi ..."
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Cited by 179 (20 self)
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Research in robotic grasping has flourished in the last 25 years. A recent survey by Bicchi [1] covered over 140 papers, and many more than that have been published. Stemming from our desire to implement some of the work in grasp analysis for particular hand designs, we created an interactive grasping simulator that can import a wide variety of hand and object models and can evaluate the grasps formed by these hands. This system, dubbed “GraspIt!,” has since expanded in scope to the point where we feel it could serve as a useful tool for other researchers in the field. To that end, we are making the system publicly available (GraspIt! is available for download for a variety of platforms from
Impulse-based Simulation of Rigid Bodies
, 1995
"... We introduce a promising new approach to rigid body dynamic simulation called impulse-based simulation. The method is well suited to modeling physical systems with large numbers of collisions, or with contact modes that change frequently. All types of contact (colliding, rolling, sliding, and restin ..."
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Cited by 178 (10 self)
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We introduce a promising new approach to rigid body dynamic simulation called impulse-based simulation. The method is well suited to modeling physical systems with large numbers of collisions, or with contact modes that change frequently. All types of contact (colliding, rolling, sliding, and resting) are modeled through a series of collision impulses between the objects in contact, hence the method is simpler and faster than constraint-based simulation. We have implemented an impulse-based simulator that can currently achieve interactive simulation times, and real time simulation seems within reach. In addition, the simulator has produced physically accurate results in several qualitative and quantitative experiments. After giving an overview of impulse-based dynamic simulation, we discuss collision detection and collision response in this context, and present
