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Collision and Proximity QueriesCollision and Proximity Queries
Dinesh Manocha
Department of Computer Science
University of North Carolina
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Proximity QueriesProximity Queries
A procedure to compute the spatial relation between objects.
Collision
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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
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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
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ApplicationsApplications
Robot motion planning Simulation of (dis-)assembly tasks Tolerance verification Simulation-based design Ergonomics analysis Haptic rendering Physics-based modeling and simulation
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HistoryHistory
Studied over 4 decades in Computational Geometry Robotics & Automation Simulated Environments Computer Animation Physically-based Modeling
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Earlier work: 1970s and 1980sEarlier work: 1970s and 1980s
Algorithms for 2D & 3D intersection computation
Collision checking and avoidance
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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,….)
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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,….)
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1990’s: considerable momentum1990’s: considerable momentum
Collision and contact computations for Physics-based simulation (Baraff’92; Lin’93; Mirtich’95)
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1990’s: considerable momentum1990’s: considerable momentum
Collision checking for virtual environments (Cohen et al.’95)
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1990’s: considerable momentum1990’s: considerable momentum
Haptic rendering (Gregory et al.’98; H-Collide)
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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
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Focus of this CourseFocus of this Course
Recent research on collision and proximity queries
Implementation in Game Physics libraries
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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)
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Game Physics SimulationGame Physics Simulation
Bullet Physics Library (Erwin Coumans) NVIDIA PHYSX (Richard Tonge)