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An algebraic solution to the problem of collision detection for rigid polyhedral objects

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3 Author(s)
Redon, S. ; Inst. Nat. de Recherche en Inf. et Autom., Le Chesnay, France ; Kheddar, A. ; Coquillart, S.

This paper describes a new collision detection algorithm designed for interactive manipulation in virtual environments. Making some assumptions on object motion, the collision time between two objects can be computed by solving a polynomial equation whose degree is equal to or smaller than three

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference:

2000