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ICOLLIDE: An interactive and exact collision detection system for largescale environments
 In Proc. of ACM Interactive 3D Graphics Conference
, 1995
"... We present an exact and interactive collision detection system, ICOLLIDE, for largescale environments. Such environments are characterized by the number of objects undergoing rigid motion and the complexity of the models. The algorithm does not assume the objects ’ motions can be expressed as a c ..."
Abstract

Cited by 313 (25 self)
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We present an exact and interactive collision detection system, ICOLLIDE, for largescale environments. Such environments are characterized by the number of objects undergoing rigid motion and the complexity of the models. The algorithm does not assume the objects ’ motions can be expressed as a closed form function of time. The collision detection system is general and can be easily interfaced with a variety of applications. The algorithm uses a twolevel approach based on pruning multipleobject pairs using bounding boxes and performing exact collision detection between selected pairs of polyhedral models. We demonstrate the performance of the system in walkthrough and simulation environments consisting of a large number of moving objects. In particular, the system takes less than l/20 of a second to determine all the collisions and contacts in an environment consisting of more than a 1000 moving polytopes, each consisting of more than 50 faces on an HP9000/750. 1
Incremental algorithms for collision detection between solid models
 IEEE Transactions on Visualization and Computer Graphics
, 1995
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Collision Detection: Algorithms and Applications
"... Fast and accurate collision detection between general geometric models is a fundamental problem in modeling, robotics, manufacturing and computersimulated environments. Most of the earlier algorithm are either restricted to a class of geometric models, say convex polytopes, or are not fast enough f ..."
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Fast and accurate collision detection between general geometric models is a fundamental problem in modeling, robotics, manufacturing and computersimulated environments. Most of the earlier algorithm are either restricted to a class of geometric models, say convex polytopes, or are not fast enough for practical applications. We present an e cient and accurate algorithm for collision detection between general polygonal models in dynamic environments. The algorithm makes use of hierarchical representations along with frame to frame coherence torapidly detect collisions. It is robust and has been implemented aspart of public domain packages. In practice, it can accurately detect all the contacts between large complex geometries composed of hundreds of thousands of polygons at interactive rates. 1