Proximity Queries and Penetration Depth Computation on 3D Game Objects

This paper discusses methods for performing proximity queries (collision detection, distance computation) and penetration depth computation on a large class of convex objects. The penetration depth of a pair of intersecting objects is the shortest vector over which one object needs to be translated in order to bring the pair in touching contact. The class of objects includes convex primitives such as polytopes (line segments, triangles, convex polyhedra) and quadrics (spheres, cones, cylinders), as well as shapes derived from these primitives by affine transformation and spherical expansion (inflating an object by a given offset).

[1]  S. A. Cameron,et al.  Determining the minimum translational distance between two convex polyhedra , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[2]  S. Sathiya Keerthi,et al.  A fast procedure for computing the distance between complex objects in three-dimensional space , 1988, IEEE J. Robotics Autom..

[3]  David G. Kirkpatrick,et al.  Determining the Separation of Preprocessed Polyhedra - A Unified Approach , 1990, ICALP.

[4]  Elmer G. Gilbert,et al.  Computing the distance between general convex objects in three-dimensional space , 1990, IEEE Trans. Robotics Autom..

[5]  Ming C. Lin,et al.  A fast algorithm for incremental distance calculation , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[6]  David Baraff,et al.  Dynamic Simulation of Non-penetrating Rigid Bodies , 1992 .

[7]  Dinesh Manocha,et al.  I-COLLIDE: an interactive and exact collision detection system for large-scale environments , 1995, I3D '95.

[8]  Wenping Wang,et al.  Quick collision detection of polytopes in virtual environments , 1996, VRST.

[9]  Dinesh Manocha,et al.  OBBTree: a hierarchical structure for rapid interference detection , 1996, SIGGRAPH.

[10]  David P. Dobkin,et al.  The quickhull algorithm for convex hulls , 1996, TOMS.

[11]  Gino van den Bergen.  Efficient Collision Detection of Complex Deformable Models using AABB Trees , 1997, J. Graphics, GPU, & Game Tools.

[12]  Elmer G. Gilbert,et al.  The Gilbert-Johnson-Keerthi distance algorithm: a fast version for incremental motions , 1997, Proceedings of International Conference on Robotics and Automation.

[13]  Stephen Cameron,et al.  Enhancing GJK: computing minimum and penetration distances between convex polyhedra , 1997, Proceedings of International Conference on Robotics and Automation.

[14]  Leonidas J. Guibas,et al.  H-Walk: hierarchical distance computation for moving convex bodies , 1999, SCG '99.

[15]  Gino van den Bergen.  A Fast and Robust GJK Implementation for Collision Detection of Convex Objects , 1999, J. Graphics, GPU, & Game Tools.

[16]  Ming C. Lin,et al.  Accelerated proximity queries between convex polyhedra by multi-level Voronoi marching , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[17]  David H. Eberly,et al.  3D game engine design - a practical approach to real-time computer graphics , 2000 .