Introduction to Collision and Proximity Queries
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Transcript Introduction to Collision and Proximity Queries
Collision and Proximity Queries
Dinesh Manocha
Department of Computer Science
University of North Carolina
[email protected]
Proximity Queries
Collision
A procedure to compute the spatial
relation between objects.
Proximity Queries
Geometric reasoning of spatial relationships
among objects (in a dynamic environment)
Collision Detection
Contact Points & Normals
d
d
Closest Points & Separation Distance
GDC’03
Penetration Depth
Problem Domain Specifications
Model Representations
– polyhedra (convex vs. non-convex vs. soups)
– CSG, implicits, parametrics, point-clouds
Type of Queries
– discrete vs. continuous query
– distance vs. penetration computation
– estimated time to collision
Simulation Environments
– pairwise vs. n-body
– static vs. dynamic
– rigid vs. deformable
Applications
Robot motion planning
Simulation of (dis-)assembly tasks
Tolerance verification
Simulation-based design
Ergonomics analysis
Haptic rendering
Physics-based modeling and simulation
History
Studied over 4 decades in
Computational Geometry
Robotics & Automation
Simulated Environments
Computer Animation
Physically-based Modeling
Earlier work: 1970s and 1980s
Algorithms for 2D & 3D intersection
computation
Collision checking and avoidance
1990’s: considerable momentum
Distance computation between convex polytopes
(Gilbert et al. 1998; Lin & Canny’91)
Bounding volume hierarchies (sphere-trees,
OBBTrees, k-DOP trees, Shelltrees)
N-body collision checking (sweep-and-prune,
grid-based methods)
Collision systems for rigid models (I-Collide,
RAPID, V-Collide, SOLID, QuickCD, PQP,….)
1990’s: considerable momentum
Distance computation between convex polytopes
(Gilbert et al. 1998; Lin & Canny’91)
Bounding volume hierarchies (sphere-trees,
OBBTrees, k-DOP trees, Shelltrees)
N-body collision checking (sweep-and-prune,
grid-based methods)
Collision systems for rigid models (I-Collide,
RAPID, V-Collide, SOLID, QuickCD, PQP,….)
1990’s: considerable momentum
Collision and contact computations for Physicsbased simulation (Baraff’92; Lin’93; Mirtich’95)
1990’s: considerable momentum
Collision checking for virtual environments
(Cohen et al.’95)
1990’s: considerable momentum
Haptic rendering (Gregory et al.’98; H-Collide)
Last 10-12 years
Novel algorithms
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–
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Discrete vs. continuous collision detection
Penetration depth computation
Deformable models
Self-collisions and breaking objects
Utilize the parallelism in multi-core CPUs and
many-core GPUs
Development of Physics engines
Focus of this Course
Recent research on collision and proximity
queries
Implementation in Game Physics libraries
Recent Research
Continuous collision detection and penetration
depth queries (Young Kim)
Algorithms for deformable, breaking and volume
meshes (Sungeui Yoon)
Acceleration using GPU parallelism (Dinesh
Manocha)
Game Physics Simulation
Bullet Physics Library (Erwin Coumans)
NVIDIA PHYSX (Richard Tonge)