We present a data structure and an algorithm for efficient and exact interference detection amongst complex models undergoing rigid motion. The algorithm is applicable to all general polygonal models. It pre-computes a hierarchical representation of models using tight-fitting oriented bounding box trees (OBBTrees). At runtime, the algorithm traverses two such trees and tests for overlaps between oriented bounding boxes based on a separating axis theorem, which takes less than 200 operations in practice. It has been implemented and we compare its performance with other hierarchical data structures. In particular, it can robustly and accurately detect all the contacts between large complex geometries composed of hundreds of thousands of polygons at interactive rates.

In this paper we present the Brep-index, a multidimensional space partitioning data structure that provides quick spatial access to the vertices, edges and faces of a boundary representation (Brep), thus yielding a single unified representation for polyhedral solids. We give an algorithm for the construction of the Brep-index and prove its correctness. We show that its size is \Omega\Gamma v + e + f), where v, e, and f are the number of vertices, edges, and faces of the Brep. The lower bound can be achieved for some Breps by compressing the structure using simple rewrite rules. We then demonstrate robust point and line/Brep classification methods given an implementation that uses finite-precision arithmetic. Keywords: Classification, Brep, BSP Trees, Data Structures 1. Introduction Most data structures that exist for representing polyhedral solids can be categorized either as boundary-based or as volume-based. Each category has certain benefits not found in the other and therefore, ...

: We present a data structure and an algorithm for efficient and exact interference detection amongst complex models undergoing rigid motion. The algorithm is applicable to all general polygonal models. It pre-computes a hierarchical representation of models using tight-fitting oriented bounding box trees (OBBTrees). At runtime, the algorithm traverses two such trees and tests for overlaps between oriented bounding boxes based on a separating axis theorem, which takes less than 200 operations in practice. It has been implemented and we compare its performance with other hierarchical data structures. In particular, it can robustly and accurately detect all the contacts between large complex geometries composed of hundreds of thousands of polygons at interactive rates. CR Categories and Subject Descriptors: I.3.5 [Computer Graphics]: Computational Geometry and Object Modeling Additional Key Words and Phrases: hierarchical data structure, collision detection, shape approximation, contac...

We present a simple method for performing real-time collision detection in a virtual surgery environment. The method relies on the graphics hardware for testing the interpenetration between a virtual deformable organ and a rigid tool controlled by the user. The method enables to take into account the motion of the tool between two consecutive time steps. For our specific application, the new method runs about a hundred times faster than the well known orientedbounding-boxes tree method [5].

We present a simple method for performing real-time collision detection in a virtual surgery environment. The method relies on the graphics hardware for testing the interpenetration between a virtual deformable organ and a rigid tool controlled by the user. The method enables to take into account the motion of the tool between two consecutive time steps. For our specific application, the new method runs about a hundred times faster than the well known orientedbounding -boxes tree method [5].