New Metrics for Evaluation of Collision Detection Techniques

In this paper we describe new metrics for the evaluation of collision detection techniques. Through careful study of common applications of these techniques we have developed a series of comparative tests that should be conducted when evaluating a collision detection algorithm. We present a comprehensive overview of the two most commonly used collision detection algorithms, Enhanced GJK and V-Clip, and analyse them using the new metrics.

[1]  Wenping Wang,et al.  Quick elimination of non-interference polytopes in virtual environments , 1996 .

[2]  Martin Held,et al.  Evaluation of Collision Detection Methods for Virtual Reality Fly-Throughs , 1995 .

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

[4]  Brian Mirtich,et al.  V-Clip: fast and robust polyhedral collision detection , 1998, TOGS.

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

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

[7]  鍾達良,et al.  An efficient collision detection algorithm for polytopes in virtual environments , 1996 .

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

[9]  Ming C. Lin,et al.  Efficient collision detection for animation and robotics , 1993 .

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

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

[12]  Leonidas J. Guibas,et al.  Parallel computational geometry , 1988, 26th Annual Symposium on Foundations of Computer Science (sfcs 1985).

[13]  Brian Mirtich,et al.  Impulse-based dynamic simulation of rigid body systems , 1996 .

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

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

[16]  Emo Welzl,et al.  Smallest enclosing disks (balls and ellipsoids) , 1991, New Results and New Trends in Computer Science.

[17]  Richard J. Rabbitz,et al.  Fast Collision Detection of Moving Convex Polyhedra , 1994, Graphics Gems.