I-COLLIDE: An Interactive and Exact Collision Detection System for Large-Scaled Environments
4
J. Cohen
M. Lin
D. Manocha
K. Ponamgi
Proceedings of the 1995 ACM International 3D Graphics Conference, pp. 189-196, 1995
1995 ACM
ftp://ftp.cs.unc.edu/pub/users/manocha/PAPERS/COLLISION/paper3dint.ps.Z
ftp://ftp.cs.unc.edu/pub/users/manocha/PAPERS/COLLISION/paper3dint.pdf
We present an exact and interactive collision detection system,
I-COLLIDE, for large-scale environments. Such environments are
characterized by the number of objects undergoing rigid motion and the
complexity of the mod- els. The algorithm does not assume the objects'
motions can be expressed as a closed form function of time. The
collision detection system is general and can be easily in- terfaced
with a variety of applications. The algorithm uses a two-level
approach based on pruning multiple- object pairs using bounding boxes
and performing exact collision detection between selected pairs of
polyhedral models. We demonstrate the performance of the system in
walkthrough and simulation environments consisting of a large number
of moving objects. In particular, the system takes less than 1/20 of a
second to determine all the collisions and contacts in an environment
consisting of more than a 1000 moving polytopes, each consisting of
more than 50 faces on an HP-9000/750.