Collision prediction for polyhedra under screw motions

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Collision prediction for polyhedra under screw motions
The prediction of collisions amongst N rigid objects may be reduced to a series of computations of the time to first contact for all pairs of objects. Simple enclosing bounds and hierarchical partitions of the space-time domain are often used to avoid testing object-pairs that clearly will not collide. When the remaining pairs involve only polyhedra under straight-line translation, the exact computation of the collision time and of the contacts requires only solving for intersections between linear geometries. When a pair is subject to a more general relative motion, such a direct collision prediction calculation may be intractable. The popular brute force collision detection strategy of executing the motion for a series of small time steps and of checking for static interferences after each step is often computationally prohibitive. We propose instead a less expensive collision prediction strategy, where we approximate the relative motion between pairs of objects by a sequence of sc...
ByungMoon Kim, Jarek Rossignac
Added 05 Jul 2010
Updated 05 Jul 2010
Type Conference
Year 2003
Where SMA
Authors ByungMoon Kim, Jarek Rossignac
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