Fast Continuous Collision Detection between Rigid Bodies

Abstract : This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies. As opposed to most collision detection techniques, the computation of the first contact time between two objects is inherently part of the algorithm. The method can thus robustly prevent objects interpenetrations or collisions misses, even when objects are thin or have large velocities. The method is valid for general objects (polygon soups), handles multiple moving objects and acyclic articulated bodies, and is efficient in low and high coherency situations. Moreover, the method can be used to speed up existent continuous collision detection methods for parametric or implicit rigid surfaces. The collision detection algorithms have been successfully coupled to a real-time dynamics simulator. Various experiments are conducted that show the method's ability to produce high-quality interaction (precise objects positioning for example) between models up to tens of thousands of triangles, which couldn't have been performed with previous continuous methods.
Type de document :
Article dans une revue
Computer Graphics Forum, Wiley, 2002, 21 (3), pp.279-287. 〈10.1111/1467-8659.t01-1-00587〉
Liste complète des métadonnées

Littérature citée [29 références]  Voir  Masquer  Télécharger
Contributeur : Nano-D Equipe <>
Soumis le : mardi 2 juin 2009 - 00:19:58
Dernière modification le : mardi 26 septembre 2017 - 16:20:02
Document(s) archivé(s) le : jeudi 30 juin 2011 - 11:35:35


Fichiers produits par l'(les) auteur(s)




Stephane Redon, Abderrahmane Kheddar, Sabine Coquillart. Fast Continuous Collision Detection between Rigid Bodies. Computer Graphics Forum, Wiley, 2002, 21 (3), pp.279-287. 〈10.1111/1467-8659.t01-1-00587〉. 〈inria-00390356〉



Consultations de la notice


Téléchargements de fichiers