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Fast distance queries with rectangular swept sphere volumes

E. Larsen, S. Gottschalk, M.C. Lin, D. Manocha
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)  
We present new distance computation algorithms using hierarchies of rectangular swept spheres.  ...  We present accurate and efficient algorithms to build the hierarchies and perform distance queries between the bounding volumes.  ...  Rectangle Swept Spheres In this section, we present Rectangle Swept Spheres (RSS) for fast distance queries.  ... 
doi:10.1109/robot.2000.845311 dblp:conf/icra/LarsenGLM00 fatcat:uvpea5iaprclxfcdntj4t6vory

User-guided volumetric approximation using swept sphere volumes for physically based animation

Myungsoo Bae, Jinwook Kim, Young J. Kim
2012 Computer Animation and Virtual Worlds  
Our approach first constructs the simplified medial axis transform (MAT) of the input mesh object, and segments the medial axis (MA) into parts in terms of swept sphere volumes (SSVs) using a region growing  ...  Each segmented region is approximated with a SSV. These decomposed surface regions can be interactively refined further by splitting and/or merging using a sketch-based input.  ...  Our approximation method segments a 3D shape into parts and approximates them with swept sphere volumes.  ... 
doi:10.1002/cav.1461 fatcat:3rh6wyqq3ncydnk45d5azgx6yi

gProximity: Hierarchical GPU-based Operations for Collision and Distance Queries

C. Lauterbach, Q. Mo, D. Manocha
2010 Computer graphics forum (Print)  
swept spheres (RSS).  ...  Our approach uses thread and data parallelism to perform fast hierarchy construction, updating, and traversal using tight-fitting bounding volumes such as oriented bounding boxes (OBB) and rectangular  ...  For distance queries we adopt rectangular swept spheres (RSS) as the building block of our BVHs [LGLM00] .  ... 
doi:10.1111/j.1467-8659.2009.01611.x fatcat:extdy7h63jhm7fjokwp3mbn74y

FCL: A general purpose library for collision and proximity queries

Jia Pan, Sachin Chitta, Dinesh Manocha
2012 2012 IEEE International Conference on Robotics and Automation  
The set of queries includes discrete collision detection, continuous collision detection, separation distance computation and penetration depth estimation.  ...  We present a new collision and proximity library that integrates several techniques for fast and accurate collision checking and proximity computation.  ...  queries using rectangular swept sphere (RSS) trees [13] .  ... 
doi:10.1109/icra.2012.6225337 dblp:conf/icra/PanCM12 fatcat:vad7azvlmfgbbjis77uquow7li

Continuous Collision Detection of Pairs of Robot Motions Under Velocity Uncertainty

Edvin Ablad, Domenico Spensieri, Robert Bohlin, Ann-Brith Stromberg
2021 IEEE Transactions on robotics  
To generate an octree representing the swept volume, we utilize a spherical cover of each link of the robot, i.e., spheres with radii τ p covering the links.  ...  Moreover, it might be beneficial to build the swept volumes explicitly (with a certain precision) to enable their reutilization in later queries.  ...  He is a Researcher and Project Manager with the Geometry and Motion Planning Department, Fraunhofer-Chalmers Research Centre for Industrial Mathematics (FCC), Gothenburg.  ... 
doi:10.1109/tro.2021.3050011 fatcat:tsf3aqzymzek7gi6znuvbfiznq

Collision Handling in Dynamic Simulation Environments [article]

M. Teschner, B. Heidelberger, D. Manocha, N. Govindaraju, G. Zachmann, S. Kimmerle, J. Mezger, A. Fuhrmann
2005 Eurographics State of the Art Reports  
The tutorial starts with basic concepts, such as boundingvolume hierarchies, spatial partitioning, distance fields, and proximity queries.  ...  This tutorial will discuss collision detection algorithms with a special emphasis on the provided collision information.  ...  ) • ellipsoids • convex Hulls • swept-Sphere Volumes (SSVs) • point Swept Spheres (PSS) • line Swept Spheres (LSS) • rectangle Swept Spheres (RSS) • triangle Swept Spheres (TSS) a) separating axes test  ... 
doi:10.2312/egt.20051051 fatcat:wmutv6glofgupmgr2y7hgxdaju

Bounding Volume Hierarchies of Slab Cut Balls

T. Larsson, T. Akenine-Möller
2009 Computer graphics forum (Print)  
For example, in all the tested benchmarks, our bounding volume hierarchy consistently gives performance improvements over both the sphere tree and the OBB tree data structure.  ...  Practical collision detection experiments confirm that our tree data structure is amenable for high performance collision queries.  ...  Examples include the QuOSPO [19] , sphere-AABB intersection volume [25] , spherical shell [28] , capsule (line swept sphere) [29, 9] , and lozenge (rectangular swept sphere) [30, 9] .  ... 
doi:10.1111/j.1467-8659.2009.01548.x fatcat:qe4xnofs5bdq3f5gdi2gmx6mh4

Automatic collision free path planning in hybrid triangle and point models: A case study

Sebastian Tafuri, Evan Shellshear, Robert Bohlin, Johan S. Carlson
2012 Proceedings Title: Proceedings of the 2012 Winter Simulation Conference (WSC)  
The ability to compute collision free paths relies on the ability to quickly and robustly query the proximity of the planning object to its surroundings.  ...  Working directly with point clouds is becoming more relevant because it allows one to scan existing industrial installations and path plan with the scan data instead of possibly incorrect planned layouts  ...  ACKNOWLEDGMENTS We sincerely thank Rolf Berlin and David Johansson for their assistance with and provision of the point based models and triangulations thereof used in this article.  ... 
doi:10.1109/wsc.2012.6465272 dblp:conf/wsc/TafuriSBC12 fatcat:mnelj6uscjc2ljaoyc6vaf75km

Interactive collision detection between deformable models using chromatic decomposition

Naga K. Govindaraju, David Knott, Nitin Jain, Ilknur Kabul, Rasmus Tamstorf, Russell Gayle, Ming C. Lin, Dinesh Manocha
2005 ACM Transactions on Graphics  
We use the symbol Pi to refer the swept volume of a primitive pi during the interval [0, ∆t] and represent the volume with a prism.  ...  In particular, a primitive in a set S i is potentially colliding if its swept volume during the time interval [0, ∆t] overlaps with the swept volume of some non-adjacent primitive in a set S j during [  ... 
doi:10.1145/1073204.1073301 fatcat:2yo7d2hq5na4hdp23ck55y3fby

Interactive collision detection between deformable models using chromatic decomposition

Naga K. Govindaraju, David Knott, Nitin Jain, Ilknur Kabul, Rasmus Tamstorf, Russell Gayle, Ming C. Lin, Dinesh Manocha
2005 ACM SIGGRAPH 2005 Papers on - SIGGRAPH '05  
We use the symbol Pi to refer the swept volume of a primitive pi during the interval [0, ∆t] and represent the volume with a prism.  ...  In particular, a primitive in a set S i is potentially colliding if its swept volume during the time interval [0, ∆t] overlaps with the swept volume of some non-adjacent primitive in a set S j during [  ... 
doi:10.1145/1186822.1073301 fatcat:56aonxrwe5fdjjswwbf57obzq4

Toward a virtual environment for biomechanical simulation

Peter Zerfass, Erwin Keeve, Seong K. Mun
2001 Medical Imaging 2001: Visualization, Display, and Image-Guided Procedures  
To avoid interpenetration of the virtual objects fast collision detection has been implemented. The kinematics are controlled by a special haptic interface which provides force feedback to the user.  ...  Distance and tolerance queries are performed using an identical approach but refining the bounding volumes to that of rectangular swept spheres [Lars98] .  ...  Currently we use the Proximity Query Package which divides the object volumes into hierarchical sets of subvolumes [PQP00]. Each subvolume is bounded by an oriented bounding box.  ... 
doi:10.1117/12.428087 dblp:conf/miigp/ZerfassK01 fatcat:5ilj7ky4ajbcnedpnsukv6ozj4

High accuracy NC milling simulation using composite adaptively sampled distance fields

Alan Sullivan, Huseyin Erdim, Ronald N. Perry, Sarah F. Frisken
2012 Computer-Aided Design  
the original workpiece volume and distance fields representing the volumes of the milling tool swept along the prescribed milling path.  ...  The new method enables very fast simulation, especially of free-form surfaces, with accuracy better than 1 micron, and low memory requirements.  ...  (6) From Eq. (6) we see that finding the distance field of a swept volume requires computing the envelopes of the swept volume.  ... 
doi:10.1016/j.cad.2012.02.002 fatcat:mqahu6b2afgd7ongovaihce3oa

Scalable Real-Time Shadows using Clustering and Metric Trees

François Deves, Frédéric Mora, Lilian Aveneau, Djamchid Ghazanfarpour
2018 Eurographics Symposium on Rendering  
Our method groups triangles into clusters by precomputing bounding spheres or bounding capsules (line-swept spheres).  ...  At each frame, we build a ternary metric tree to partition the spheres and capsules according to their apparent distance from the light.  ...  Larsen et al. also define rectangular swept spheres (i.e a sphere convoluted with a rectangle) which may provide better bounding volumes.  ... 
doi:10.2312/sre.20181175 dblp:conf/rt/DevesMAG18 fatcat:7gnjykyvp5cr3coejncxejepta

Path Planning for Deformable Robots in Complex Environments

Russell Gayle, Paul Segars, Ming C. Lin, Dinesh Manocha
2005 Robotics: Science and Systems I  
Our algorithm computes a collision free path by taking into account geometric and physical constraints, including obstacle avoidance, non-penetration constraint, volume preservation, surface tension, and  ...  The offsets of each of these primitives are represented as swept sphere volumes: as rectangular swept-sphere (RSS), line swept-sphere (LSS) and point swept-sphere (PSS), respectively [19] .  ...  We precompute the swept spheres to enclose the obstacle primitives.  ... 
doi:10.15607/rss.2005.i.030 dblp:conf/rss/GayleSLM05 fatcat:xsiftk7pubfd5osrakavvastr4

Efficient collision detection using bounding volume hierarchies of k-DOPs

J.T. Klosowski, M. Held, J.S.B. Mitchell, H. Sowizral, K. Zikan
1998 IEEE Transactions on Visualization and Computer Graphics  
Applications such as haptic force-feedback can require over 1,000 collision queries per second.  ...  Typically, the input to a collision detection algorithm is a large number of geometric objects comprising an environment, together with a set of objects moving within the environment.  ...  Another bounding volume that has become popular recently is the oriented bounding box (OBB), which surrounds an object with a bounding box (hexahedron with rectangular facets) whose orientation is arbitrary  ... 
doi:10.1109/2945.675649 fatcat:zuy3tmxsgjdtndtb5n5rrzdot4
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