Collision handling with variable-step integrators

This paper deals with collision handling of many convex shapes in offline simulations of Modelica-like object-oriented models, using variable-step integrators with error control. Hereby, it is assumed that collisions appear only from time to time and/or that path planning algorithms shall utilize the provided information for collision avoidance. Improvements to the Minkowski Portal Refinement (MPR) algorithm are proposed, as well as enhancements so that zero-crossing functions can be provided for the integrator in order to trigger events when contact starts and ends. The algorithms are demonstrated with a prototype implemented with the Julia programming language.