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

2014
*
2014 IEEE Symposium on 3D User Interfaces (3DUI)
*

Our algorithm uses voxelized

doi:10.1109/3dui.2014.6798856
dblp:conf/3dui/SagardiaSS14
fatcat:oxwzasitc5e5tiskwnp7gz6hym
*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*. ...##
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Fast penetration depth computation for physically-based animation

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. ...

##
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Fast penetration depth computation for physically-based animation

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. ...

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

2006
*
2006 Proceedings of the Eighth Workshop on Algorithm Engineering and Experiments (ALENEX)
*

We also present

doi:10.1137/1.9781611972863.1
dblp:conf/alenex/FogelH06
fatcat:l7dxxfqlsrb3npy3tlpla2bzju
*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*...##
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Exact and efficient construction of Minkowski sums of convex polyhedra with applications

2007
*
Computer-Aided Design
*

We also present

doi:10.1016/j.cad.2007.05.017
fatcat:hpore7xnyfgrxneqcaff5syktu
*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*...##
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Exact minkowski sums of convex polyhedra

2005
*
Proceedings of the twenty-first annual symposium on Computational geometry - SCG '05
*

Our software also includes

doi:10.1145/1064092.1064157
dblp:conf/compgeom/FogelH05
fatcat:2m2z6dumnzcj3kbmvd52ejt6ra
*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 ...##
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Incremental penetration depth estimation between convex polytopes using dual-space expansion

2004
*
IEEE Transactions on Visualization and Computer Graphics
*

We present a fast algorithm

doi:10.1109/tvcg.2004.1260767
pmid:15384640
fatcat:2zhxfdy32zhizgjtcyo6unitvq
*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. ...##
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Geometric Data Structures for Computer Graphics
[chapter]

1985
*
Fundamental Algorithms for Computer Graphics
*

Syllabus Our goal is

doi:10.1007/978-3-642-84574-1_40
fatcat:gyppodpcgzga3avqfwpm7j6fma
*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. ...##
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Variable-Radius Offset Surface Approximation on the GPU

2020
*
Journal of WSCG
*

In addition, we show

doi:10.24132/csrn.2020.3001.12
fatcat:7onelly3ofgdthqedn3fljpksa
*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. ...##
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Accurate Minkowski sum approximation of polyhedral models

2006
*
Graphical Models
*

Abstract We present an algorithm

doi:10.1016/j.gmod.2005.11.003
fatcat:cyyrkoevgba33hzinq5woaeevy
*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*. ...##
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Collision Handling in Dynamic Simulation Environments
[article]

2005
*
Eurographics State of the Art Reports
*

This tutorial will discuss

doi:10.2312/egt.20051051
fatcat:wmutv6glofgupmgr2y7hgxdaju
*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*...##
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Algorithm and Data Structures for Efficient Energy Maintenance during Monte Carlo Simulation of Proteins

2004
*
Journal of Computational Biology
*

It is used

doi:10.1089/cmb.2004.11.902
pmid:15700409
fatcat:xbn5wrdb2namfbgal526mvswga
*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. ...##
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Ellipsotopes: Combining Ellipsoids and Zonotopes for Reachability Analysis and Fault Detection
[article]

2022
*
arXiv
*
pre-print

Both of these representations also enable efficient,

arXiv:2108.01750v3
fatcat:422bvzblwjeprgw2uhqhtgsni4
*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. ...##
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A regularized non-smooth contact dynamics approach for architectural masonry structures

2017
*
Computers & structures
*

This approach, complemented

doi:10.1016/j.compstruc.2017.02.002
fatcat:7gvdorwc2ralfmlaqc5p3rnniu
*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 ...##
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Separation-Sensitive Collision Detection for Convex Objects
[article]

1998
*
arXiv
*
pre-print

We develop a class of new kinetic data

arXiv:cs/9809035v2
fatcat:b3aquazovbbqfg7cvz6vv365ua
*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] . ...
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