Efficient Collision Detection for Large Models Employing Filter Banks (original) (raw)
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Fast collision detection between massive models using dynamic simplification
ACM International Conference Proceeding Series, 2004
We present a novel approach for collision detection between large models composed of tens of millions of polygons. Each model is represented as a clustered hierarchy of progressive meshes (CHPM). The CHPM is a dual hierarchy of the original model; it serves both as a multiresolution representation of the original model, as well as a bounding volume hierarchy. We use the cluster hierarchy of a CHPM to perform coarse-grained selective refinement and the progressive meshes for fine-grained local refinement. We present a novel conservative error metric to perform collision queries based on the multiresolution representation. We use this error metric to perform dynamic simplification for collision detection. Our approach is conservative in that it may overestimate the set of colliding regions, but never misses any collisions. Furthermore, we are able to generate these hierarchies and perform collision queries using out-of-core techniques on all triangulated models. We have applied our algorithm to perform conservative collision detection between massive CAD and scanned models, consisting of millions of triangles at interactive rates on a commodity PC.
HAL (Le Centre pour la Communication Scientifique Directe), 2010
In a virtual sculpture project, we would like to sculpt in real-time 3D objects sampled in volume elements (voxels). The drawback of this kind of representation is that a very huge number of voxels is required to represent large and detailed objects. Consequently, the memory cost will be very large and the user/object interaction will be slowed down. We proposed a multiresolution representation of 3D objects thanks to a 3D wavelet transform, in order to reduce the memory cost and to adapt the processing and display times with a desired level of detail. In order to allow real-time performance during the sculpting process, we propose in this paper a repartition structure, which is an octree whose each node contains maximal and minimal density for each area of the 3D object. Moreover, we combine this structure with a multiresolution collision detection, to accelerate the sculpting process during the addition and subtraction of matter into the 3D object thanks to a tool, both with the same multiresolution representation.
HAL (Le Centre pour la Communication Scientifique Directe), 2011
In a virtual sculpture project, we would like to sculpt in real-time 3D objects sampled in volume elements (voxels). The drawback of this kind of representation is that a very huge number of voxels is required to represent large and detailed objects. Consequently, the memory cost will be very large and the user/object interaction will be slowed down. We proposed a multiresolution representation of 3D objects thanks to a 3D wavelet transform, in order to reduce the memory cost and to adapt the processing and display times with a desired level of detail. In order to allow real-time performance during the sculpting process, we propose in this paper a repartition structure, which is an octree whose each node contains maximal and minimal density for each area of the 3D object. Moreover, we combine this structure with a multiresolution collision detection, to accelerate the sculpting process during the addition and subtraction of matter into the 3D object thanks to a tool, both with the same multiresolution representation.
Efficient Collision Detection of Complex Deformable Models using AABB Trees
Journal Of Graphics, Gpu, And Game Tools, 1997
We present a scheme for exact collision detection between complex mod els undergoing rigid motion and deformation. The scheme relies on a hier archical model representation using axis-aligned bounding boxes (AABBs). In recent work, AABB trees have been shown to be slower than oriented bounding box (OBB) trees. In this paper, we describe a way to speed up overlap tests between AABBs, such that for collision detection of rigid mod els, the difference in performance between the two representations is greatly reduced. Furthermore, we show how to quickly update an AABB tree as a model is deformed. We thus find AABB trees to be the method of choice for collision detection of complex models undergoing deformation. In fact, because they are not much slower to test, are faster to build, and use less storage than OBB trees, AABB trees might be a reasonable choice for rigid models as well.
Partitioning and Handling Massive Models for Interactive Collision Detection
Computer Graphics Forum, 1999
We describe an approach for interactive collision detection and proximity computations on massive models composed of millions of geometric primitives. We address issues related to interactive data access and processing in a large geometric database, which may not fit into main memory of typical desktop workstations or computers. We present a new algorithm using overlap graphs for localizing the "regions of interest" within a massive model, thereby reducing runtime memory requirements. The overlap graph is computed off-line, pre-processed using graph partitioning algorithms, and modified on the fly as needed. At run time, we traverse localized subgraphs to check the corresponding geometry for proximity and pre-fetch geometry and auxiliary data structures. To perform interactive proximity queries, we use bounding-volume hierarchies and take advantage of spatial and temporal coherence. Based on the proposed algorithms, we have developed a system called IMMPACT and used it for interaction with a CAD model of a power plant consisting of over 15 million triangles. We are able to perform a number of proximity queries in real-time on such a model. In terms of model complexity and application to large models, we have improved the performance of interactive collision detection and proximity computation algorithms by an order of magnitude.
CLODs: Dual hierarchies for multiresolution collision detection
2003
Abstract We present" contact levels of detail"(CLOD), a novel concept for multiresolution collision detection. Given a polyhedral model, our algorithm automatically builds a" dual hierarchy", both a multiresolution representation of the original model and its bounding volume hierarchy for accelerating collision queries. We have proposed various error metrics, including object-space errors, velocity dependent gap, screen-space errors and their combinations.
Collision Detection for Rigid Bodies: A State of the Art Review
Virtual reality applications refer to the use of computers to simulate a physical environment in such a way that humans can readily visualize, explore, and interact with "objects" in this environment. The design of virtual scenes requires realistic physically based simulation algorithms and in particular efficient collision detection routines. Collision detection prevent penetrations between objects.
Low Cost and Efficient Collision Detection for Rigid and Deformable Objects
Objects cannot occupy the same location in 3D space at the same time. Generally all static objects have no possibility of collision between them. Collision Detection (CD) is to detect collision between objects when they are interpenetrating with each other during animation and physical simulation. In animation, CD is very important topics for research to reduce intersection cost of objects. The objective of this paper is to review all collision detection algorithms and propose a technique for efficient collision detection between complex rigid objects. We used geometry as a bounding volume for each object. It performs the intersection test between the bounding volumes first. If the bounding volumes are not intersecting one another, then the two objects are not intersecting. It can speed up the collision detection. This paper will be helpful for researchers who want to work on collision detection in the field of animation, physical simulation, robotics, and game development.
Fast continuous collision detection for articulated models
Journal of Computing and Information Science in Engineering, 2005
We present a novel algorithm to perform continuous collision detection for articulated models. Given two discrete configurations of the links of an articulated model, we use an "arbitrary in-between motion" to interpolate its motion between two successive time steps and check the resulting trajectory for collisions. Our approach uses a three-stage pipeline: (1) dynamic bounding-volume hierarchy (D-BVH) culling based on interval arithmetic; (2) culling refinement using the swept volume of line swept sphere (LSS) and graphics hardware accelerated queries; (3) exact contact computation using OBB-trees and continuous collision detection between triangular primitives. The overall algorithm computes the time of collision, contact locations and prevents any interpenetration between the articulated model with the environment. We have implemented the algorithm and tested its performance on a 2.4 GHz Pentium PC with 1 Gbyte of RAM and a NVIDIA GeForce FX 5800 graphics card. In practice, our algorithm is able to perform accurate and continuous collision detection between articulated models and complex environments at nearly interactive rates.