Real-time collision detection and response for complex environments

B. Geiger
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引用次数: 23

Abstract

Presents a method for collision detection that is well suited to complex environments, such as those obtained from medical imaging and for objects that are in permanent contact. The method is based on a point-in-tetrahedral-mesh query. Spatial and temporal coherence are used to achieve interactive speed. In addition to collision detection, the system calculates a force and torque that can be used for collision response. Experimental results show that it performs well compared to the RAPID (Robust and Accurate Polygon Interference Detection) collision detection library, which is a standard in the field.
复杂环境下的实时碰撞检测与响应
提出了一种碰撞检测方法,该方法非常适合于复杂环境,例如从医学成像中获得的环境和永久接触的物体。该方法基于四面体网格点查询。利用空间和时间相干性来实现交互速度。除了碰撞检测之外,系统还可以计算碰撞响应所需的力和扭矩。实验结果表明,与快速(Robust and Accurate Polygon Interference Detection,鲁棒和精确多边形干涉检测)碰撞检测库相比,该方法具有良好的性能。
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