Image-based Collision Detection and Response between Arbitrary Volumetric Objects

François Faure 1 Jérémie Allard 2 Florent Falipou 1 Sébastien Barbier 1
1 EVASION - Virtual environments for animation and image synthesis of natural objects
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
2 ALCOVE - Collaborative interactive virtual environment
LIFL - Laboratoire d'Informatique Fondamentale de Lille, Inria Lille - Nord Europe, IRCICA
Abstract : We present a new image-based method to process contacts between objects bounded by triangular surfaces. Unlike previous methods, it relies on image-based volume minimization, which eliminates complex geometrical computations and robustly handles deep intersections. The surfaces are rasterized in three orthogonal directions, and intersections are detected based on pixel depth and normal orientation. Per-pixel contact forces are computed and accumulated at the vertices. We show how to compute pressure forces which serve to minimize the intersection volume, as well as friction forces. No geometrical precomputation is required, which makes the method efficient for both deformable and rigid objects. We demonstrate it on rigid, skinned, and particle-based physical models with detailed surfaces in contacts at interactive frame rates.
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François Faure, Jérémie Allard, Florent Falipou, Sébastien Barbier. Image-based Collision Detection and Response between Arbitrary Volumetric Objects. ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Jul 2008, Dublin, Ireland. pp.155-162, ⟨10.2312/SCA/SCA08/155-162⟩. ⟨inria-00319399v3⟩

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