A Real-Time Algorithm for Accurate Collision Detection for Deformable Polyhedral Objects

We propose an accurate collision detection algorithm for use in virtual reality applications. The algorithm works for three-dimensional graphical environments where multiple objects, represented as polyhedra (boundary representation), are undergoing arbitrary motion (translation and rotation). The algorithm can be used directly for both convex and concave objects and objects can be deformed (nonrigid) during motion. The algorithm works efficiently by first reducing the number of face pairs that need to be checked accurately for interference, by first localizing possible collision regions using bounding box and spatial subdivision techniques. Face pairs that remain after this pruning stage are then accurately checked for interference. The algorithm is efficient, simple to implement, and does not require any memory-intensive auxiliary data structures to be precomputed and updated. The performance of the proposed algorithm is compared directly against other existing algorithms, e.g., the separating plane algorithm, octree update method, and distance-based method. Results are given to show the efficiency of the proposed method in a general environment.

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

[2]  M. Levas.  OBBTree : A Hierarchical Structure for Rapid Interference Detection , .

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

[4]  Tosiyasu L. Kunii,et al.  A Hierarchical Space Indexing Method , 1985 .

[5]  Alex Pentland,et al.  Computational complexity versus virtual worlds , 1990, I3D '90.

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

[7]  K HahnJames.  Realistic animation of rigid bodies , 1988 .

[8]  William Bricken,et al.  Efficient virtual collision detection for multiple users in large virtual spaces , 1994 .

[9]  Jane Wilhelms,et al.  Collision Detection and Response for Computer Animation , 1988, SIGGRAPH.

[10]  George Vanĕček,et al.  Collision Detection and Analysis in a Physically Based Simulation , 1991 .

[11]  Jane Wilhelms,et al.  Number 4 , August 1988 Collision Detection and Response for Computer Animation , 1988 .

[12]  Michael Zyda,et al.  NPSNET: Real-time collision detection and response , 1993, Comput. Animat. Virtual Worlds.

[13]  George Vanekckek.  Back-face culling applied to collision detection of polyhedra , 1994, Comput. Animat. Virtual Worlds.

[14]  James Arvo,et al.  Graphics Gems II , 1994 .

[15]  WilhelmsJane,et al.  Collision Detection and Response for Computer Animation , 1988 .

[16]  Martti Mäntylä,et al.  Localized set operations for solid modeling , 1983, SIGGRAPH.

[17]  John W. Boyse,et al.  Interference detection among solids and surfaces , 1979, CACM.

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

[19]  Greg Turk,et al.  Interactive Collision Detection for Molecular Graphics , 1990 .

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

[21]  Vincent Hayward,et al.  Fast collision detection scheme by recursive decomposition of a manipulator workspace , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[22]  Tsutomu Miyasato,et al.  Virtual space teleconferencing "Communication with realistic sensations" , 1995, Proceedings 4th IEEE International Workshop on Robot and Human Communication.

[23]  Vincent Hayward,et al.  The use of awareness in collision prediction , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

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

[25]  Allen Newell,et al.  The psychology of human-computer interaction , 1983 .

[26]  Alejandro M. García-Alonso,et al.  Solving the collision detection problem , 1994, IEEE Computer Graphics and Applications.

[27]  Paul S. Heckbert,et al.  Graphics gems IV , 1994 .

[28]  Yoshifumi Kitamura,et al.  Parallel algorithms for real-time colliding face detection , 1995, Proceedings 4th IEEE International Workshop on Robot and Human Communication.

[29]  Yoshifumi Kitamura,et al.  A Sophisticated Manipulation Aid in a Virtual Environment using Dynamic Constraints among Object Faces , 1998, Presence.

[30]  Yoshifumi Kitamura,et al.  Virtual chopsticks: object manipulation using multiple exact interactions , 1999, Proceedings IEEE Virtual Reality (Cat. No. 99CB36316).

[31]  F. Kishino,et al.  Cooperative work environment using virtual workspace , 1992, CSCW '92.

[32]  James K. Hahn,et al.  Realistic animation of rigid bodies , 1988, SIGGRAPH.

[33]  Hanan Samet,et al.  The Design and Analysis of Spatial Data Structures , 1989 .

[34]  C.A. Shaffer,et al.  A real-time robot arm collision avoidance system , 1992, IEEE Trans. Robotics Autom..

[35]  Dinesh Manocha,et al.  Fast contact determination in dynamic environments , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[36]  David Baraff,et al.  Curved surfaces and coherence for non-penetrating rigid body simulation , 1990, SIGGRAPH.

[37]  David B. Kirk,et al.  Graphics Gems III , 1992 .

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