Fast Continuous Collision Detection between Rigid Bodies
This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies. As opposed to most collision detection techniques, the computation of the first contact time between two objects is inherently part of the algorithm. The method can thus robustly prevent objects interp...
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| Published in | Computer graphics forum Vol. 21; no. 3; pp. 279 - 287 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Oxford, UK
Blackwell Publishing, Inc
01.09.2002
Wiley |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0167-7055 1467-8659 |
| DOI | 10.1111/1467-8659.t01-1-00587 |
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| Abstract | This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies. As opposed to most collision detection techniques, the computation of the first contact time between two objects is inherently part of the algorithm. The method can thus robustly prevent objects interpenetrations or collisions misses, even when objects are thin or have large velocities. The method is valid for general objects (polygon soups), handles multiple moving objects and acyclic articulated bodies, and is efficient in low and high coherency situations. Moreover, the method can be used to speed up existent continuous collision detection methods for parametric or implicit rigid surfaces. The collision detection algorithms have been successfully coupled to a real‐time dynamics simulator. Various experiments are conducted that show the method's ability to produce high‐quality interaction (precise objects positioning for example) between models up to tens of thousands of triangles, which couldn't have been performed with previous continuous methods.
Categories and Subject Descriptors (according to ACM CCS): I.3.7 [Computer Graphics]: Animation ‐ Virtual Reality |
|---|---|
| AbstractList | This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies. As opposed to most collision detection techniques, the computation of the first contact time between two objects is inherently part of the algorithm. The method can thus robustly prevent objects interpenetrations or collisions misses, even when objects are thin or have large velocities. The method is valid for general objects (polygon soups), handles multiple moving objects and acyclic articulated bodies, and is efficient in low and high coherency situations. Moreover, the method can be used to speed up existent continuous collision detection methods for parametric or implicit rigid surfaces. The collision detection algorithms have been successfully coupled to a real‐time dynamics simulator. Various experiments are conducted that show the method's ability to produce high‐quality interaction (precise objects positioning for example) between models up to tens of thousands of triangles, which couldn't have been performed with previous continuous methods.
Categories and Subject Descriptors (according to ACM CCS): I.3.7 [Computer Graphics]: Animation ‐ Virtual Reality This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies. As opposed to most collision detection techniques, the computation of the first contact time between two objects is inherently part of the algorithm. The method can thus robustly prevent objects interpenetrations or collisions misses, even when objects are thin or have large velocities. The method is valid for general objects (polygon soups), handles multiple moving objects and acyclic articulated bodies, and is efficient in low and high coherency situations. Moreover, the method can be used to speed up existent continuous collision detection methods for parametric or implicit rigid surfaces. The collision detection algorithms have been successfully coupled to a real-time dynamics simulator. Various experiments are conducted that show the method's ability to produce high-quality interaction (precise objects positioning for example) between models up to tens of thousands of triangles, which couldn't have been performed with previous continuous methods. |
| Author | Redon, Stéphane Coquillart, Sabine Kheddar, Abderrahmane |
| Author_xml | – sequence: 1 givenname: Stéphane surname: Redon fullname: Redon, Stéphane organization: i3D - INRIA - France, stephane.redon@inria.fr, sabine.coquillart@inria.fr – sequence: 2 givenname: Abderrahmane surname: Kheddar fullname: Kheddar, Abderrahmane organization: † CEMIF-SC - Université d'Evry - France, kheddar@iup.univ-evry.fr – sequence: 3 givenname: Sabine surname: Coquillart fullname: Coquillart, Sabine organization: i3D - INRIA - France, stephane.redon@inria.fr, sabine.coquillart@inria.fr |
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| References | Von Herzen, B., A.H. Barr, and H.R. Zatz, Geometric Collisions for Time-Dependent Parametric Surfaces. Computer Graphics, 24(4), August 1990, pp. 39 - 48. J. Colgate, M. Stanley, and J. Brown. Issues in the haptic display of tool use. In Int. Conf. on Intelligent Robots and Systems, (Pittsburgh), August 1995. J.T. Klosowski, M. Held, J.S.B. Mitchell, H. Sowizral, K. Zikan. Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs. IEEE Transactions on Visualization and Computer Graphics, March 1998, Volume 4, Number 1. T. Duff. Interval Arithmetic and Recursive Subdivision for Implicit Functions and Constructive Solid Geometry. Computer Graphics, 26(2), July 1992, pp. 131 - 138. A. Garcia-Alonso, N. Serrano and J. Flaquer. Solving the collision detection problem. IEEE Computer Graphic and Applications, 13(3), 36 - 43(1994). J.F. Canny. Collision detection for moving polyhedra. IEEE Trans. Patt. Anal. Mach. Intell. 8,2 (March 1986), pp 200 - 209. S. Redon, A. Kheddar and S. Coquillart. An Algebraic Solution to the Problem of Collision Detection for Rigid Polyhedral Objects. In Proceedings of International Conference on Robotics and Automation, pp 3733 - 3738, April 2000. J. Snyder, A. Woodbury, K. Fleischer, B. Currin, and A. Barr, Interval Methods for Multi-point Collisions between Time-Dependent Curved Surfaces. Computer Graphics, 27(2), 321 - 334, Aug. 1993. S. Krishnan, A. Pattekar, M. Lin and D. Manocha. Spherical Shell: A Higher Order Bounding Volume for Fast Proximity Queries. Appeared in Proceedings of WAFR'98. S. Gottschalk. Collision queries using oriented bounding boxes. PhD Thesis. 1999. A. Gregory, A. Mascarenhas, S. Ehmann, M. Lin and D. Manocha. Six degree-of-freedom haptic display of polygonal models. In Proc. IEEE Visualization, 2000. C. Lennerz, E. Schoemer and T. Warken. A Framework for Collision Detection and Response. In 11th European Simulation Symposium, ESS'99, pp. 309 - 314. B. Mirtich. 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Journal of Robotics and Automation, 4, 193 - 203(1988). J. Snyder. Interval analysis for Computer Graphics. Computer Graphics, 26(2), pages 121 - 130, July 1992. A. Gregory, M. Lin, S. Gottschalk and R. Taylor. Fast and accurate collision detection for haptic interaction using a three degree-of-freedom force-feedback device. In Computational Geometry: Theory and Applications. G. Baciu, S.K. Wong, and H. Sun. RECODE: An Image-Based Collision Detection Algorithm. Journal of Visualization and Computer Animation, Vol. 10, No. 4, 1999 pp. 181 - 192. P.M. Hubbard. Collision detection for interactive graphics applications. Ph.D. Thesis, April 1995. S. Redon, A. Kheddar and S. Coquillart. CONTACT: arbitrary in-between motions for continuous collision detection. In Proceedings of IEEE ROMAN'2001, Sep. 2001. D. Baraff.Curved surfaces and coherence for non-penetrating rigid body simulation. Computer Graphics, Vol. 24, No. 4, 1990, pp. 19 - 28. S.A. Cameron. Collision detection by four-dimensionalintersection testing. IEEE Trans. Robotics and Automation. 6, 3(June 1990), pp 291 - 302. S. Gottschalk, M.C. Lin, and D. Manocha. OBB-Tree: A Hierarchical Structure for Rapid Interference Detection. In SIGGRAPH 96 Conference Proceedings, Annual Conference Series. ACM SIGGRAPH , Addison Wesley, August 1996. M. Shinya and M. Forque. Interference detection through rasterization. The Journal of Visualization and Computer Animation, 2, 131 - 134(1991). J. Cohen, M. Lin, D. Manocha and M. Ponamgi. I-COLLIDE: an interactive and exact collision detection system for large-scale environments. In Proceedings of ACM Interactive 3D Graphics Conference, ACM, Monterey, CA,1995, pp. 189 - 196. J. Snyder. An interactive tool for placing curved surfaces without interpenetration. In Proceedings of ACM SIGGRAPH, pages 209 - 218, 1995. D. Baraff. Interactive simulation of solid rigid bodies. IEEE Computer Graphics and Applications, Vol. 15, 1995, pp. 63 - 75. 1988; 4 1991; 2 March 1986 1990; 24 April 2000 2000 1995; 15 may 2002 August 1995 April 1995 August 1990; 24 June 1990 August 1996 1996 1999; 10 1995 1994; 13 Aug. 1993; 27 1997; 2 Sep. 2001 March 1998; 4 July 1992; 26 1999 Cohen (10.1111/1467-8659.t01-1-00587-BIB6) 1995 Eckstein (10.1111/1467-8659.t01-1-00587-BIB9) Redon (10.1111/1467-8659.t01-1-00587-BIB22) 2000 Shinya (10.1111/1467-8659.t01-1-00587-BIB25) 1991; 2 Klosowski (10.1111/1467-8659.t01-1-00587-BIB17) 1998; 4 Baciu (10.1111/1467-8659.t01-1-00587-BIB1) 1999; 10 Mirtich (10.1111/1467-8659.t01-1-00587-BIB21) 1996 Lennerz (10.1111/1467-8659.t01-1-00587-BIB19) Lin (10.1111/1467-8659.t01-1-00587-BIB20) Baraff (10.1111/1467-8659.t01-1-00587-BIB2) 1990; 24 Redon (10.1111/1467-8659.t01-1-00587-BIB24) 2002 Snyder (10.1111/1467-8659.t01-1-00587-BIB27) 1995 Van den Bergen (10.1111/1467-8659.t01-1-00587-BIB29) 1997; 2 Gottschalk (10.1111/1467-8659.t01-1-00587-BIB12) 1999 Snyder (10.1111/1467-8659.t01-1-00587-BIB26) 1992; 26 Gilbert (10.1111/1467-8659.t01-1-00587-BIB11) 1988; 4 Gottschalk (10.1111/1467-8659.t01-1-00587-BIB13) 1996 Gregory (10.1111/1467-8659.t01-1-00587-BIB14) Garcia-Alonso (10.1111/1467-8659.t01-1-00587-BIB10) 1994; 13 Hubbard (10.1111/1467-8659.t01-1-00587-BIB16) 1995 Colgate (10.1111/1467-8659.t01-1-00587-BIB7) 1995 Canny (10.1111/1467-8659.t01-1-00587-BIB5) 1986 Gregory (10.1111/1467-8659.t01-1-00587-BIB15) 2000 Cameron (10.1111/1467-8659.t01-1-00587-BIB4) 1990 Von Herzen (10.1111/1467-8659.t01-1-00587-BIB30) 1990; 24 Krishnan (10.1111/1467-8659.t01-1-00587-BIB18) Redon (10.1111/1467-8659.t01-1-00587-BIB23) 2001 Baraff (10.1111/1467-8659.t01-1-00587-BIB3) 1995; 15 Duff (10.1111/1467-8659.t01-1-00587-BIB8) 1992; 26 Snyder (10.1111/1467-8659.t01-1-00587-BIB28) 1993; 27 |
| References_xml | – reference: Von Herzen, B., A.H. Barr, and H.R. Zatz, Geometric Collisions for Time-Dependent Parametric Surfaces. Computer Graphics, 24(4), August 1990, pp. 39 - 48. – reference: S.A. Cameron. Collision detection by four-dimensionalintersection testing. IEEE Trans. Robotics and Automation. 6, 3(June 1990), pp 291 - 302. – reference: S. Redon, A. Kheddar and S. Coquillart. Gauss' least constraints principle and rigid body simulations. In proceedings of IEEE International Conference on Robotics and Automation, may 2002 – reference: J. Cohen, M. Lin, D. Manocha and M. Ponamgi. I-COLLIDE: an interactive and exact collision detection system for large-scale environments. In Proceedings of ACM Interactive 3D Graphics Conference, ACM, Monterey, CA,1995, pp. 189 - 196. – reference: E.G. Gilbert, D.W. Johnson and S.S. Keerthi. A fast procedure for computing the distance between objects in three-dimensional space. Journal of Robotics and Automation, 4, 193 - 203(1988). – reference: J. Snyder. An interactive tool for placing curved surfaces without interpenetration. In Proceedings of ACM SIGGRAPH, pages 209 - 218, 1995. – reference: J. Colgate, M. Stanley, and J. Brown. Issues in the haptic display of tool use. In Int. Conf. on Intelligent Robots and Systems, (Pittsburgh), August 1995. – reference: T. Duff. Interval Arithmetic and Recursive Subdivision for Implicit Functions and Constructive Solid Geometry. Computer Graphics, 26(2), July 1992, pp. 131 - 138. – reference: S. Gottschalk, M.C. Lin, and D. Manocha. OBB-Tree: A Hierarchical Structure for Rapid Interference Detection. In SIGGRAPH 96 Conference Proceedings, Annual Conference Series. ACM SIGGRAPH , Addison Wesley, August 1996. – reference: A. Garcia-Alonso, N. Serrano and J. Flaquer. Solving the collision detection problem. IEEE Computer Graphic and Applications, 13(3), 36 - 43(1994). – reference: A. Gregory, M. Lin, S. Gottschalk and R. Taylor. Fast and accurate collision detection for haptic interaction using a three degree-of-freedom force-feedback device. In Computational Geometry: Theory and Applications. – reference: J. Snyder, A. Woodbury, K. Fleischer, B. Currin, and A. Barr, Interval Methods for Multi-point Collisions between Time-Dependent Curved Surfaces. Computer Graphics, 27(2), 321 - 334, Aug. 1993. – reference: S. Redon, A. Kheddar and S. Coquillart. An Algebraic Solution to the Problem of Collision Detection for Rigid Polyhedral Objects. In Proceedings of International Conference on Robotics and Automation, pp 3733 - 3738, April 2000. – reference: S. Gottschalk. Collision queries using oriented bounding boxes. PhD Thesis. 1999. – reference: J.T. Klosowski, M. Held, J.S.B. Mitchell, H. Sowizral, K. Zikan. Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs. IEEE Transactions on Visualization and Computer Graphics, March 1998, Volume 4, Number 1. – reference: S. Redon, A. Kheddar and S. Coquillart. CONTACT: arbitrary in-between motions for continuous collision detection. In Proceedings of IEEE ROMAN'2001, Sep. 2001. – reference: M.C. Lin, A. Gregory, S. Ehmann, S. Gottschalk, and R. Taylor. Contact Determination for Real-Time Haptic Interaction in 3D Modeling. Editing and Painting. Proc. 1999 Workshop for PhanTom User Group. – reference: D. Baraff.Curved surfaces and coherence for non-penetrating rigid body simulation. Computer Graphics, Vol. 24, No. 4, 1990, pp. 19 - 28. – reference: J. Snyder. Interval analysis for Computer Graphics. Computer Graphics, 26(2), pages 121 - 130, July 1992. – reference: A. Gregory, A. Mascarenhas, S. Ehmann, M. Lin and D. Manocha. Six degree-of-freedom haptic display of polygonal models. In Proc. IEEE Visualization, 2000. – reference: G. Van den Bergen. Efficient collision detection of complex deformable models using AABB trees. Journal of Graphics Tools, 2(4):1 - 14, 1997. – reference: G. Baciu, S.K. Wong, and H. Sun. RECODE: An Image-Based Collision Detection Algorithm. Journal of Visualization and Computer Animation, Vol. 10, No. 4, 1999 pp. 181 - 192. – reference: C. Lennerz, E. Schoemer and T. Warken. A Framework for Collision Detection and Response. In 11th European Simulation Symposium, ESS'99, pp. 309 - 314. – reference: J.F. Canny. Collision detection for moving polyhedra. IEEE Trans. Patt. Anal. Mach. Intell. 8,2 (March 1986), pp 200 - 209. – reference: D. Baraff. Interactive simulation of solid rigid bodies. IEEE Computer Graphics and Applications, Vol. 15, 1995, pp. 63 - 75. – reference: J. Eckstein and E. Schoemer. Dynamic collision detection in virtual reality applications. In 7th International Conference in Central Europe on Computer Graphics and Visualization and Interactive Digital Media, WSCG'99, pp. 71 - 78. – reference: M. Shinya and M. Forque. Interference detection through rasterization. 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Robotics and Automation publication-title: Collision detection by four-dimensionalintersection testing – year: August 1995 article-title: Int. Conf. on Intelligent Robots and Systems publication-title: Issues in the haptic display of tool use – volume: 2 start-page: 1 issue: 4 year: 1997 end-page: 14 article-title: Journal of Graphics Tools publication-title: Efficient collision detection of complex deformable models using AABB trees – start-page: 71 end-page: 78 article-title: 7th International Conference in Central Europe on Computer Graphics and Visualization and Interactive Digital Media publication-title: Dynamic collision detection in virtual reality applications – volume: 13 start-page: 36 issue: 3 year: 1994 end-page: 43 article-title: IEEE Computer Graphic and Applications publication-title: Solving the collision detection problem – start-page: 3733 year: 2000 ident: 10.1111/1467-8659.t01-1-00587-BIB22 article-title: Proceedings of International Conference on Robotics and Automation publication-title: An Algebraic Solution to the Problem of Collision Detection for Rigid Polyhedral Objects – ident: 10.1111/1467-8659.t01-1-00587-BIB20 article-title: Proc. 1999 Workshop for PhanTom User Group publication-title: Contact Determination for Real-Time Haptic Interaction in 3D Modeling. Editing and Painting – start-page: 309 ident: 10.1111/1467-8659.t01-1-00587-BIB19 article-title: 11th European Simulation Symposium, ESS'99 publication-title: A Framework for Collision Detection and Response – volume: 13 start-page: 36 issue: 3 year: 1994 ident: 10.1111/1467-8659.t01-1-00587-BIB10 article-title: IEEE Computer Graphic and Applications publication-title: Solving the collision detection problem – volume: 2 start-page: 131 year: 1991 ident: 10.1111/1467-8659.t01-1-00587-BIB25 article-title: The Journal of Visualization and Computer Animation publication-title: Interference detection through rasterization – volume: 27 start-page: 321 issue: 2 year: 1993 ident: 10.1111/1467-8659.t01-1-00587-BIB28 article-title: Computer Graphics publication-title: Interval Methods for Multi-point Collisions between Time-Dependent Curved Surfaces – year: 1999 ident: 10.1111/1467-8659.t01-1-00587-BIB12 publication-title: Collision queries using oriented bounding boxes – volume: 24 start-page: 19 issue: 4 year: 1990 ident: 10.1111/1467-8659.t01-1-00587-BIB2 article-title: Computer Graphics publication-title: Curved surfaces and coherence for non-penetrating rigid body simulation – year: 2000 ident: 10.1111/1467-8659.t01-1-00587-BIB15 article-title: Proc. IEEE Visualization publication-title: Six degree-of-freedom haptic display of polygonal models – volume: 4 start-page: 193 year: 1988 ident: 10.1111/1467-8659.t01-1-00587-BIB11 article-title: Journal of Robotics and Automation publication-title: A fast procedure for computing the distance between objects in three-dimensional space – start-page: 291 year: 1990 ident: 10.1111/1467-8659.t01-1-00587-BIB4 article-title: IEEE Trans. Robotics and Automation publication-title: Collision detection by four-dimensionalintersection testing – volume: 10 start-page: 181 issue: 4 year: 1999 ident: 10.1111/1467-8659.t01-1-00587-BIB1 article-title: Journal of Visualization and Computer Animation publication-title: RECODE: An Image-Based Collision Detection Algorithm – start-page: 209 year: 1995 ident: 10.1111/1467-8659.t01-1-00587-BIB27 article-title: Proceedings of ACM SIGGRAPH publication-title: An interactive tool for placing curved surfaces without interpenetration – start-page: 189 year: 1995 ident: 10.1111/1467-8659.t01-1-00587-BIB6 article-title: Proceedings of ACM Interactive 3D Graphics Conference publication-title: I-COLLIDE: an interactive and exact collision detection system for large-scale environments – volume: 4 issue: 1 year: 1998 ident: 10.1111/1467-8659.t01-1-00587-BIB17 article-title: IEEE Transactions on Visualization and Computer Graphics publication-title: Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs – year: 2002 ident: 10.1111/1467-8659.t01-1-00587-BIB24 article-title: proceedings of IEEE International Conference on Robotics and Automation publication-title: Gauss' least constraints principle and rigid body simulations – volume: 26 start-page: 121 issue: 2 year: 1992 ident: 10.1111/1467-8659.t01-1-00587-BIB26 article-title: Computer Graphics publication-title: Interval analysis for Computer Graphics doi: 10.1145/142920.134024 – year: 1996 ident: 10.1111/1467-8659.t01-1-00587-BIB13 article-title: SIGGRAPH 96 Conference Proceedings, Annual Conference Series publication-title: OBB-Tree: A Hierarchical Structure for Rapid Interference Detection – year: 1996 ident: 10.1111/1467-8659.t01-1-00587-BIB21 publication-title: Impulse-based dynamic simulation of rigid body systems – volume: 2 start-page: 1 issue: 4 year: 1997 ident: 10.1111/1467-8659.t01-1-00587-BIB29 article-title: Journal of Graphics Tools publication-title: Efficient collision detection of complex deformable models using AABB trees – ident: 10.1111/1467-8659.t01-1-00587-BIB14 article-title: Computational Geometry: Theory and Applications publication-title: Fast and accurate collision detection for haptic interaction using a three degree-of-freedom force-feedback device – volume: 26 start-page: 131 issue: 2 year: 1992 ident: 10.1111/1467-8659.t01-1-00587-BIB8 article-title: Computer Graphics publication-title: Interval Arithmetic and Recursive Subdivision for Implicit Functions and Constructive Solid Geometry – start-page: 200 year: 1986 ident: 10.1111/1467-8659.t01-1-00587-BIB5 article-title: IEEE Trans. Patt. Anal. Mach. Intell publication-title: Collision detection for moving polyhedra – year: 2001 ident: 10.1111/1467-8659.t01-1-00587-BIB23 article-title: Proceedings of IEEE ROMAN'2001 publication-title: CONTACT: arbitrary in-between motions for continuous collision detection – year: 1995 ident: 10.1111/1467-8659.t01-1-00587-BIB16 publication-title: Collision detection for interactive graphics applications – volume: 24 start-page: 39 issue: 4 year: 1990 ident: 10.1111/1467-8659.t01-1-00587-BIB30 article-title: Computer Graphics publication-title: Geometric Collisions for Time-Dependent Parametric Surfaces – start-page: 71 ident: 10.1111/1467-8659.t01-1-00587-BIB9 article-title: 7th International Conference in Central Europe on Computer Graphics and Visualization and Interactive Digital Media publication-title: Dynamic collision detection in virtual reality applications – volume: 15 start-page: 63 year: 1995 ident: 10.1111/1467-8659.t01-1-00587-BIB3 article-title: IEEE Computer Graphics and Applications publication-title: Interactive simulation of solid rigid bodies – ident: 10.1111/1467-8659.t01-1-00587-BIB18 publication-title: Spherical Shell: A Higher Order Bounding Volume for Fast Proximity Queries. Appeared in Proceedings of WAFR'98 – year: 1995 ident: 10.1111/1467-8659.t01-1-00587-BIB7 article-title: Int. Conf. on Intelligent Robots and Systems publication-title: Issues in the haptic display of tool use |
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| Title | Fast Continuous Collision Detection between Rigid Bodies |
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