Surface distance maps
Figure 1 : Interactive motion planning of hundreds of agents for crowd simulation: We use our novel surface distance map computation algorithm for interactive path computation and collision detection in a dynamic environment: (left and center) Two views of the environment with dynamic 3D obstacles, including cars and flying drones. Each human agent is represented as a cylinder and colored based on its goal. (right) The nearest neighbor map of the obstacles and agents is computed using surface
... stance maps. Each colored region is closer to one of the 3D obstacles than to any other. The path for one of the agents is shown using solid black lines. Our algorithm can perform the simulation, including distance computations and path planning, for 100 agents at 10fps on a high-end PC. ABSTRACT We present a new parameterized representation called surface distance maps for distance computations on piecewise 2-manifold primitives. Given a set of orientable 2-manifold primitives, the surface distance map represents the (non-zero) signed distance-toclosest-primitive mapping at each point on a 2-manifold. The distance mapping is computed from each primitive to the set of remaining primitives. We present an interactive algorithm for computing the surface distance map of triangulated meshes using graphics hardware. We precompute a surface parameterization and use the it to define an affine transformation for each mesh primitive. Our algorithm efficiently computes the distance field by applying this affine transformation to the distance functions of the primitives and evaluating these functions using texture mapping hardware. In practice, our algorithm can compute very high resolution surface distance maps at interactive rates and provides tight error bounds on their accuracy. We use surface distance maps for path planning and proximity query computation among complex models in dynamic environments. Our approach can perform planning and proximity queries in a dynamic environment with hundreds of objects at interactive rates and offer significant speedups over prior algorithms.