Minimal hierarchical collision detection

We present a novel bounding volume hierarchy that allows for extremely small data structure sizes while still performing collision detection as fast as other classical hierarchical algorithms in most cases. The hierarchical data structure is a variation of axis-aligned bounding box trees. In addition to being very memory efficient, it can be constructed efficiently and very fast.We also propose a criterion to be used during the construction of the BV hierarchies is more formally established than previous heuristics. The idea of the argument is general and can be applied to other bounding volume hierarchies as well. Furthermore, we describe a general optimization technique that can be applied to most hierarchical collision detection algorithms.Finally, we describe several box overlap tests that exploit the special features of our new BV hierarchy. These are compared experimentally among each other and with the DOP tree using a benchmark suite of real-world CAD data.

[1]  Michael Ian Shamos,et al.  Computational geometry: an introduction , 1985 .

[2]  John Salmon,et al.  Automatic Creation of Object Hierarchies for Ray Tracing , 1987, IEEE Computer Graphics and Applications.

[3]  James Arvo,et al.  A survey of ray tracing acceleration techniques , 1989 .

[4]  Hans-Peter Kriegel,et al.  The R*-tree: an efficient and robust access method for points and rectangles , 1990, SIGMOD '90.

[5]  Richard L. Grimsdale,et al.  Collision Detection for Animation using Sphere‐Trees , 1995, Comput. Graph. Forum.

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

[7]  Philip M. Hubbard,et al.  Approximating polyhedra with spheres for time-critical collision detection , 1996, TOGS.

[8]  Leonidas J. Guibas,et al.  BOXTREE: A Hierarchical Representation for Surfaces in 3D , 1996, Comput. Graph. Forum.

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

[10]  Gabriel Zachmann.  REAL-TIME AND EXACT COLLISION DETECTION FOR INTERACTIVE VIRTUAL PROTOTYPING , 1997 .

[11]  Gabriel Zachmann,et al.  Rapid collision detection by dynamically aligned DOP-trees , 1998, Proceedings. IEEE 1998 Virtual Reality Annual International Symposium (Cat. No.98CB36180).

[12]  Joseph S. B. Mitchell,et al.  Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs , 1998, IEEE Trans. Vis. Comput. Graph..

[13]  James J. Troy,et al.  Six degree-of-freedom haptic rendering using voxel sampling , 1999, SIGGRAPH '99.

[14]  Elmar Schömer,et al.  Dynamic Collision Detection in Virtual Reality Applications , 1999 .

[15]  E. Rosado,et al.  ABSTRACT , 1990 .

[16]  Michael T. Goodrich,et al.  K-D Trees Are Better when Cut on the Longest Side , 2000, ESA.

[17]  Bernhard Geiger.  Real-time collision detection and response for complex environments , 2000, Proceedings Computer Graphics International 2000.

[18]  Ming C. Lin,et al.  Accurate and Fast Proximity Queries Between Polyhedra Using Convex Surface Decomposition , 2001, Comput. Graph. Forum.

[19]  Norman I. Badler,et al.  Collision resolutions in cloth simulation , 2001, Proceedings Computer Animation 2001. Fourteenth Conference on Computer Animation (Cat. No.01TH8596).

[20]  Tomas Akenine-Möller,et al.  Collision Detection for Continuously Deforming Bodies , 2001, Eurographics.

[21]  Ming C. Lin,et al.  Fast penetration depth estimation for elastic bodies using deformed distance fields , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[22]  Leonidas J. Guibas,et al.  Deformable Free-Space Tilings for Kinetic Collision Detection† , 2002, Int. J. Robotics Res..