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Collision and Proximity Queries. Dinesh Manocha Department of Computer Science University of North Carolina [email protected]. Collision. Proximity Queries. A procedure to compute the spatial relation between objects. d. Proximity Queries. - PowerPoint PPT Presentation
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Collision and Proximity QueriesCollision and Proximity Queries
Dinesh Manocha
Department of Computer Science
University of North Carolina
Proximity QueriesProximity Queries
A procedure to compute the spatial relation between objects.
Collision
GDC’03
Proximity QueriesProximity Queries
Geometric reasoning of spatial relationships among objects (in a dynamic environment)
d
Closest Points & Separation Distance
d
Penetration Depth
Collision Detection Contact Points & Normals
Problem Domain SpecificationsProblem 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
ApplicationsApplications
Robot motion planning Simulation of (dis-)assembly tasks Tolerance verification Simulation-based design Ergonomics analysis Haptic rendering Physics-based modeling and simulation
HistoryHistory
Studied over 4 decades in Computational Geometry Robotics & Automation Simulated Environments Computer Animation Physically-based Modeling
Earlier work: 1970s and 1980sEarlier work: 1970s and 1980s
Algorithms for 2D & 3D intersection computation
Collision checking and avoidance
1990’s: considerable momentum1990’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 momentum1990’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 momentum1990’s: considerable momentum
Collision and contact computations for Physics-based simulation (Baraff’92; Lin’93; Mirtich’95)
1990’s: considerable momentum1990’s: considerable momentum
Collision checking for virtual environments (Cohen et al.’95)
1990’s: considerable momentum1990’s: considerable momentum
Haptic rendering (Gregory et al.’98; H-Collide)
Last 10-12 yearsLast 10-12 years
Novel algorithms– 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 CourseFocus of this Course
Recent research on collision and proximity queries
Implementation in Game Physics libraries
Recent ResearchRecent 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 SimulationGame Physics Simulation
Bullet Physics Library (Erwin Coumans) NVIDIA PHYSX (Richard Tonge)