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Continuous Collision Detection for Articulated Models using Taylor Models and Temporal Culling
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BibTeX
@MISC{Zhang_continuouscollision,
author = {Xinyu Zhang and Stephane Redon and Minkyoung Lee and Young J. Kim},
title = {Continuous Collision Detection for Articulated Models using Taylor Models and Temporal Culling},
year = {}
}
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Abstract
configurations of two moving mannequin models consisting of 15 links and 20K triangles each. (b) Motion interpolation from the initial and final configurations. (c) Finding the first time of contact between the two mannequins (contact features highlighted in pink). (d)(e)(f) Self-collision between the left and right arms of a mannequin. Our algorithm can perform such continuous collision detection in a fraction of a milli-second. We present a fast continuous collision detection (CCD) algorithm for articulated models using Taylor models and temporal culling. Our algorithm is a generalization of conservative advancement (CA) from convex models [Mirtich 1996] to articulated models with non-convex links. Given the initial and final configurations of a moving articulated model, our algorithm creates a continuous motion with constant translational and rotational velocities for each link, and checks for interferences between the articulated model under continuous motion and other models in the environment and for self-collisions. If collisions occur, our algorithm reports
Keyphrases
articulated model temporal culling continuous collision detection taylor model continuous motion final configuration right arm algorithm report conservative advancement non-convex link motion interpolation rotational velocity first time convex model constant translational contact feature mannequin model fast continuous collision detection
