PolyDepth: Real-time penetration depth computation using iterative contact-space projection
- 주제(키워드) Animation , Collision detection , Dynamics , Penetration depth , Polygon-soups
- 관리정보기술 faculty
- 등재 SCIE, SCOPUS
- 발행기관 Association for Computing Machinary, Inc.
- 발행년도 2012
- 총서유형 Journal
- URI http://www.dcollection.net/handler/ewha/000000093287
- 본문언어 영어
- Published As http://dx.doi.org/10.1145/2077341.2077346
초록/요약
We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find an initial collision-free configuration using several methods such as centroid difference, maximally clear configuration, motion coherence, random configuration, and sampling-based search. We project this configuration on to a local contact space using a variant of continuous collision detection algorithm and construct a linear convex cone around the projected configuration.We then formulate a new projection of the in-collision configuration onto the convex cone as a Linear Complementarity Problem (LCP), which we solve using a type of Gauss-Seidel iterative algorithm.We repeat this procedure until a locally optimal PD is obtained. Our algorithm can process complicated models consisting of tens of thousands triangles at interactive rates. © 2012 ACM.
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