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Poster: Integration of a haptic rendering algorithm based on voxelized and point-sampled structures into the physics engine Bullet

Mikel Sagardia, Theodoros Stouraitis, Joao Lopes e Silva
2014 2014 IEEE Symposium on 3D User Interfaces (3DUI)  
Our algorithm uses voxelized distance fields and multi-resolution point-sampled representations and it is able to compute collision forces between arbitrary complex bodies at 1 kHz.  ...  Current experiments show that the integrated algorithm outperforms standard collision detection engines in Bullet in terms of speed if high resolutions and accuracies are required, enabling physically  ...  One well-known approach for collision detection is the Gilbert-Johnson-Keerthi (GJK) Algorithm [3] , which computes distances or penetrations between convex shapes using their Minkowski sums.  ... 
doi:10.1109/3dui.2014.6798856 dblp:conf/3dui/SagardiaSS14 fatcat:oxwzasitc5e5tiskwnp7gz6hym

Fast penetration depth computation for physically-based animation

Young J. Kim, Miguel A. Otaduy, Ming C. Lin, Dinesh Manocha
2002 Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation - SCA '02  
The algorithm computes pairwise Minkowski sums of decomposed convex pieces and performs a closest point query using rasterization hardware.  ...  Given two overlapping polyhedra, it computes the minimal translation distance to separate them using a combination of objectspace and image-space techniques.  ...  Government of the Basque Country.  ... 
doi:10.1145/545261.545266 dblp:conf/sca/KimOLM02 fatcat:pbnzm3gupjdevmcxfjafqxafhy

Fast penetration depth computation for physically-based animation

Young J. Kim, Miguel A. Otaduy, Ming C. Lin, Dinesh Manocha
2002 Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation - SCA '02  
The algorithm computes pairwise Minkowski sums of decomposed convex pieces and performs a closest point query using rasterization hardware.  ...  Given two overlapping polyhedra, it computes the minimal translation distance to separate them using a combination of objectspace and image-space techniques.  ...  Government of the Basque Country.  ... 
doi:10.1145/545265.545266 fatcat:c43zcmxpz5fmlglstehufacr7y

Exact and Efficient Construction of Minkowski Sums of Convex Polyhedra with Applications

Efi Fogel, Dan Halperin
2006 2006 Proceedings of the Eighth Workshop on Algorithm Engineering and Experiments (ALENEX)  
We also present applications of the Minkowski-sum computation to answer collision and proximity queries about the relative placement of two convex polyhedra in R 3 .  ...  We compare our Minkowski-sum construction with the only three other methods that produce exact results we are aware of.  ...  We present an exact, complete, and robust implementation of efficient algorithms to compute the Minkowski sum of two convex polyhedra, detect collision, and compute the Euclidean separation distance between  ... 
doi:10.1137/1.9781611972863.1 dblp:conf/alenex/FogelH06 fatcat:l7dxxfqlsrb3npy3tlpla2bzju

Exact and efficient construction of Minkowski sums of convex polyhedra with applications

Efi Fogel, Dan Halperin
2007 Computer-Aided Design  
We also present applications of the Minkowski-sum computation to answer collision and proximity queries about the relative placement of two convex polyhedra in R 3 .  ...  We compare our Minkowski-sum construction with the only three other methods that produce exact results we are aware of.  ...  We present an exact, complete, and robust implementation of efficient algorithms to compute the Minkowski sum of two convex polyhedra, detect collision, and compute the Euclidean separation distance between  ... 
doi:10.1016/j.cad.2007.05.017 fatcat:hpore7xnyfgrxneqcaff5syktu

Exact minkowski sums of convex polyhedra

Efi Fogel, Dan Halperin
2005 Proceedings of the twenty-first annual symposium on Computational geometry - SCG '05  
Our software also includes applications of the Minkowski-sum computation to answer collision and proximity queries about the relative placement of two convex polyhedra in R 3 .  ...  We compare our Minkowski-sum construction with a naïve approach that computes the convex hull of the pairwise sums of vertices of two convex polyhedra. Our method is significantly faster.  ...  We use the Minkowski sums to detect collision, and compute the Euclidean separation distance between, and the directional penetration-depth of, two convex polyhedra in R 3 ; see the accompanying paper  ... 
doi:10.1145/1064092.1064157 dblp:conf/compgeom/FogelH05 fatcat:2m2z6dumnzcj3kbmvd52ejt6ra

Incremental penetration depth estimation between convex polytopes using dual-space expansion

Y.J. Kim, M.C. Lin, D. Manocha
2004 IEEE Transactions on Visualization and Computer Graphics  
We present a fast algorithm to estimate the penetration depth between convex polytopes in 3D.  ...  The algorithm incrementally seeks a "locally optimal solution" by walking on the surface of the Minkowski sums.  ...  Collision Detection Algorithm A collision detection algorithm is used to check whether two objects overlap.  ... 
doi:10.1109/tvcg.2004.1260767 pmid:15384640 fatcat:2zhxfdy32zhizgjtcyo6unitvq

Geometric Data Structures for Computer Graphics [chapter]

Mark H. Overmars
1985 Fundamental Algorithms for Computer Graphics  
Syllabus Our goal is to familiarize practitioners and researchers in computer graphics with some very versatile and ubiquitous geometric data structures, enable them to readily recognize geometric problems  ...  The course will focus on algorithms and data structures that have proven to be versatile, efficient, fundamental and easy to implement.  ...  Figure 39 : 39 By estimating the volume of the Minkowski sum of two BVs, we can derive an estimate for the cost of the split of a set of polygons associated with a node.  ... 
doi:10.1007/978-3-642-84574-1_40 fatcat:gyppodpcgzga3avqfwpm7j6fma

Variable-Radius Offset Surface Approximation on the GPU

Ann-Christin Woerl, Elmar Schoemer, Ulrich Schwanecke
2020 Journal of WSCG  
In addition, we show the usefulness of our method to calculate classical Minkowski sums and demonstrate its use for packing problems.  ...  We present a method to interactively visualize the wanted skin surface by rendering the variable-radius offset surfaces of all triangles of the skull mesh.  ...  Therefore, we use the the Minkowski sum representation presented here for collision detection in quasi constant time.  ... 
doi:10.24132/csrn.2020.3001.12 fatcat:7onelly3ofgdthqedn3fljpksa

Accurate Minkowski sum approximation of polyhedral models

Gokul Varadhan, Dinesh Manocha
2006 Graphical Models  
Abstract We present an algorithm to approximate the 3D Minkowski sum of polyhedral objects.  ...  Our algorithm decomposes the polyhedral objects into convex pieces, generates pairwise convex Minkowski sums and computes their union.  ...  We thank Danny Halperin for many fruitful discussions on the complexity and practical implementations of Minkowski sum.  ... 
doi:10.1016/j.gmod.2005.11.003 fatcat:cyyrkoevgba33hzinq5woaeevy

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  
This tutorial will discuss collision detection algorithms with a special emphasis on the provided collision information.  ...  The tutorial starts with basic concepts, such as boundingvolume hierarchies, spatial partitioning, distance fields, and proximity queries.  ...  be employed for collision detection -LDIs can be used to approximately represent objects for further processing Intersection Detection for Deformable Objects n introduction n Minkowski sum n distance  ... 
doi:10.2312/egt.20051051 fatcat:wmutv6glofgupmgr2y7hgxdaju

Algorithm and Data Structures for Efficient Energy Maintenance during Monte Carlo Simulation of Proteins

Itay Lotan, Fabian Schwarzer, Dan Halperin, Jean-Claude Latombe
2004 Journal of Computational Biology  
It is used to efficiently detect self-collision (steric clash between atoms) and/or find all atom pairs contributing to the energy.  ...  The most costly ones to compute are contributed by atom pairs closer than some cutoff distance.  ...  Comparison with other methods There exist several methods applicable to the problem of detecting self-collision in a chain.  ... 
doi:10.1089/cmb.2004.11.902 pmid:15700409 fatcat:xbn5wrdb2namfbgal526mvswga

Ellipsotopes: Combining Ellipsoids and Zonotopes for Reachability Analysis and Fault Detection [article]

Shreyas Kousik, Adam Dai, Grace Gao
2022 arXiv   pre-print
Both of these representations also enable efficient, convex collision detection for fault detection or formal verification tasks, wherein one checks if the reachable set of a system collides (i.e., intersects  ...  Zonotopes, a type of symmetric, convex polytope, are similarly frequently used due to efficient numerical implementation of affine maps and exact Minkowski sums.  ...  We similarly approximate the Hausdorff distance between each reduced ellipsotope and the exact Minkowski sum ellipsotope.  ... 
arXiv:2108.01750v3 fatcat:422bvzblwjeprgw2uhqhtgsni4

A regularized non-smooth contact dynamics approach for architectural masonry structures

Valentina Beatini, Gianni Royer-Carfagni, Alessandro Tasora
2017 Computers & structures  
This approach, complemented with an optimized collision detection algorithm for convex contacts, results to be reliable for dynamic analyses of masonry structures under static and dynamic loads.  ...  A Non-Smooth Contact Dynamic (NSCD) formulation is used to analyze complex assemblies of rigid blocks, representative of real masonry structures.  ...  In sake of performance, all these situations are cast as a set of multiple contact points between the two shapes, although this process is demanded to the heuristics of the collision detection algorithm  ... 
doi:10.1016/j.compstruc.2017.02.002 fatcat:7gvdorwc2ralfmlaqc5p3rnniu

Separation-Sensitive Collision Detection for Convex Objects [article]

Jeff Erickson, Leonidas J. Guibas, Jorge Stolfi, Li Zhang
1998 arXiv   pre-print
We develop a class of new kinetic data structures for collision detection between moving convex polytopes; the performance of these structures is sensitive to the separation of the polytopes during their  ...  For two convex polygons in the plane, let D be the maximum diameter of the polygons, and let s be the minimum distance between them during their motion.  ...  Acknowledgments: We wish to thank Julien Basch for fruitful discussions, and Pankaj Agarwal for making us aware of Dudley's result [8] .  ... 
arXiv:cs/9809035v2 fatcat:b3aquazovbbqfg7cvz6vv365ua
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