Fast and reliable collision culling using graphics hardware

We present a reliable culling algorithm that enables fast and accurate collision detection between triangulated models in a complex environment. Our algorithm performs fast visibility queries on the GPUs for eliminating a subset of primitives that are not in close proximity. In order to overcome the accuracy problems caused by the limited viewport resolution, we compute the Minkowski sum of each primitive with a sphere and perform reliable 2.5D overlap tests between the primitives. We are able to achieve more effective collision culling as compared to prior object-space culling algorithms. We integrate our culling algorithm with CULLIDE and use it to perform reliable GPU-based collision queries at interactive rates on all types of models, including nonmanifold geometry, deformable models, and breaking objects.

[1]  S. Morein.  Ati radeon hyperz technology , 2000 .

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

[3]  Sean Quinlan,et al.  Efficient distance computation between non-convex objects , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[4]  Bob McNamara,et al.  Tiled polygon traversal using half-plane edge functions , 2000, Workshop on Graphics Hardware.

[5]  Dinesh Manocha,et al.  Incremental algorithms for collision detection between solid models , 1995, Symposium on Solid Modeling and Applications.

[6]  Dinesh Manocha,et al.  CULLIDE: interactive collision detection between complex models in large environments using graphics hardware , 2003, HWWS '03.

[7]  Ming C. Lin,et al.  Collision Detection between Geometric Models: A Survey , 1998 .

[8]  Dinesh Manocha,et al.  Fast computation of generalized Voronoi diagrams using graphics hardware , 1999, SIGGRAPH.

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

[10]  Philip M. Hubbard,et al.  Interactive collision detection , 1993, Proceedings of 1993 IEEE Research Properties in Virtual Reality Symposium.

[11]  Dinesh Manocha,et al.  Quick-CULLIDE: fast inter- and intra-object collision culling using graphics hardware , 2005, IEEE Proceedings. VR 2005. Virtual Reality, 2005..

[12]  Dinesh Manocha,et al.  Fast and simple 2D geometric proximity queries using graphics hardware , 2001, I3D '01.

[13]  Dinesh K. Pai,et al.  CInDeR: Collision and Interference Detection in Real-time using graphics hardware , 2003, Graphics Interface.

[14]  Dinesh Manocha,et al.  Collision and Proximity Queries , 2004, Handbook of Discrete and Computational Geometry, 2nd Ed..

[15]  Karol Myszkowski,et al.  Fast collision detection between complex solids using rasterizing graphics hardware , 1995, The Visual Computer.

[16]  George Baciu,et al.  RECODE: an image-based collision detection algorithm , 1998, Proceedings Pacific Graphics '98. Sixth Pacific Conference on Computer Graphics and Applications (Cat. No.98EX208).

[17]  Dinesh Manocha,et al.  CC shadow volumes , 2004, SIGGRAPH '04.

[18]  Yiorgos Chrysanthou,et al.  Fast Cloth Animation on Walking Avatars , 2001, Comput. Graph. Forum.

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

[20]  A. Gress,et al.  Object-space interference de-tection on programmable graphics hardware , 2003 .

[21]  Dinesh Manocha,et al.  Incremental Algorithms for Collision Detection Between Polygonal Models , 1997, IEEE Trans. Vis. Comput. Graph..

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

[23]  Jarek Rossignac,et al.  Interactive inspection of solids: cross-sections and interferences , 1992, SIGGRAPH.

[24]  Dinesh Manocha,et al.  Fast penetration depth computation for physically-based animation , 2002, SCA '02.

[25]  Joseph S. B. Mitchell,et al.  Real-time collision detection for motion simulation within complex environments , 1996, SIGGRAPH '96.

[26]  Carme Torras,et al.  3D collision detection: a survey , 2001, Comput. Graph..

[27]  Dinesh Manocha,et al.  Fast continuous collision detection for articulated models , 2004, SM '04.

[28]  George Baciu,et al.  Image-Based Techniques in a Hybrid Collision Detector , 2003, IEEE Trans. Vis. Comput. Graph..

[29]  Mikio Shinya,et al.  Interference detection through rasterization , 1991, Comput. Animat. Virtual Worlds.

[30]  Jean-Christophe Lombardo,et al.  Real-time collision detection for virtual surgery , 1999, Proceedings Computer Animation 1999.

[31]  Ramesh Raskar,et al.  Image precision silhouette edges , 1999, SI3D.

[32]  Markus H. Gross,et al.  Real-Time Volumetric Intersections of Deforming Objects , 2003, VMV.

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

[34]  Tomas Akenine-Möller,et al.  A Fast Triangle-Triangle Intersection Test , 1997, J. Graphics, GPU, & Game Tools.

[35]  Tomas Akenine-Möller,et al.  Graphics for the masses: a hardware rasterization architecture for mobile phones , 2003, ACM Trans. Graph..