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Continuous Collision Detection for Adaptive Simulation of Articulated Bodies

Sujeong Kim 1 Stephane Redon 2, 3 Young Kim 1
2 I3D - 3 dimensional interaction
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
3 NANO-D - Algorithms for Modeling and Simulation of Nanosystems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
Abstract : We perform continuous collision detection (CCD) for articulated bodies where motion is governed by an adaptive dynamics simulation. Our algorithm is based on a novel hierarchical set of transforms that represent the kinematics of an articulated body recursively, as described by an assembly tree. The performance of our CCD algorithm significantly improves as the number of active degrees of freedom in the simulation decreases.
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Submitted on : Monday, June 1, 2009 - 11:30:49 PM
Last modification on : Thursday, January 20, 2022 - 5:30:29 PM
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Sujeong Kim, Stephane Redon, Young Kim. Continuous Collision Detection for Adaptive Simulation of Articulated Bodies. The Visual Computer, Springer Verlag, 2008, 24 (4), pp.261-269. ⟨10.1007/s00371-007-0196-6⟩. ⟨inria-00390311⟩



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