Efficient collision detection using bounding volume hierarchies ofk-DOPs
Klosowski, J.T.
Held, M.
Mitchell, J.S.B.
Sowizral, H.
Zikan, K.
Dept. of Appl. Math. & Stat., State Univ. of New York, Stony Brook, NY;
This paper appears in: Visualization and Computer Graphics, IEEE Transactions on
Publication Date: Jan-Mar 1998
Volume: 4,
Issue: 1
On page(s): 21-36
ISSN: 1077-2626
References Cited: 47
CODEN: ITVGEA
INSPEC Accession Number: 5921227
Digital Object Identifier: 10.1109/2945.675649
Current Version Published: 2002-08-06
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 1000 collision queries per second. 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
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