We present a scheme for exact collision detection between complex models undergoing rigid motion and deformation. The scheme relies on a hierarchical model representation using axis-aligned bounding boxes (AABBs). In recent work, AABB trees have been shown to be slower than oriented bounding box (OBB) trees. In this paper, we describe a way to speed up overlap tests between AABBs, such that for collision detection of rigid models, the difference in performance between the two representations is greatly reduced. Furthermore, we show how to quickly update an AABB tree as a model is deformed. We thus find AABB trees to be the method of choice for collision detection of complex models undergoing deformation. In fact, because they are not much slower to test, are faster to build, and use less storage than OBB trees, AABB trees might be a reasonable choice for rigid models as well. Keywords: computer animation, collision detection, hierarchical data structures, deformable model...

Interactive environments for dynamically deforming objects play an important role in surgery simulation and entertainment technology. These environments require fast deformable models and very efficient collision handling techniques. While collision detection for rigid bodies is well-investigated, collision detection for deformable objects introduces additional challenging problems. This paper focusses on these aspects and summarizes recent research in the area of deformable collision detection. Various approaches based on bounding volume hierarchies, distance fields, and spatial partitioning are discussed. Further, image-space techniques and stochastic methods are considered. Applications in cloth modeling and surgical simulation are presented.

The Virtual Assembly Design Environment (VADE) is a Virtual Reality (VR)-based engineering application that allows engineers to evaluate, analyze, and plan the assembly of mechanical systems. This system focuses on utilizing an immersive, virtual environment tightly coupled with commercial computer aided design (CAD) systems. Salient features of VADE include: 1) data integration (two-way) with a parametric CAD system, 2) realistic interaction of user with parts in the virtual environment, 3) creation of valued design information in the virtual environment, 4) reverse data transfer of design information back to the CAD system, 5) significant interactivity in the virtual environment, 6) collision detection, and 7) physically-based modeling. This paper describes the functionality and applications of VADE. A discussion of the limitations of virtual assembly and a comparison with automated assembly planning systems are presented. Experiments conducted using real-world engineering models are also described. 1.

We present a novel bounding volume hierarchy that allows for extremely small data structure sizes while still performing collision detection as fast as other classical hierarchical algorithms in most cases. The hierarchical data structure is a variation of axis-aligned bounding box trees. In addition to being very memory efficient, it can be constructed efficiently and very fast. We also propose

We present data structures and algorithms for dynamic collision detection in virtual reality (VR) applications. The methods are applicable to all general polygonal models. They combine the advantages of collision detection using bounding volume (BV) hierarchies with the ability to compute dynamic collision detection results. The results are used as input for further simulations, e.g. contact or dynamics simulation. First we present new methods to compute BV hierarchies using optimization goals which can also be used to improve known computation methods. Second we show how to integrate BV hierarchies into a process of dynamic collision detection, so that the bounding objects as well as the surface patches of the objects are tested for overlap during their motions. The performance of the techniques is shown by means of a tting simulation in the automotive industry.

In this paper we propose a new solution to efficient collision detection between large polygonal models. Our algorithm is based on the construction of hierarchical tree representations of models using a new bounding volume data structure: Quantized Orientation Slabs with Primary Orientations (QuOSPOs). A QuOSPO tree provides a tight approximation to the original model at each level, and supports a conservative yet very efficient overlap checking algorithm. It essentially combines and extends advantages of two leading bounding volume structures: OBBs and k-dops. Our experiments and analysis demonstrate that this new structure is substantially faster for collision detection than existing methods. CR Categories: I.3.5 [Computer Graphics]: Computational Geometry and Object Modeling Keywords: collision detection, hierarchical bounding volumes, orientation space quantization, primary orientations 1 Introduction Collision detection (CD) is a fundamental problem to many interactive 3D grap...

A general framework for collision detection is presented. Then, we look at each stage and compare different approaches by extensive benchmarks. The results suggest a way to optimize the performance of the overall framework.

Detecting collisions and calculating physically correct collision responses play an important role when simulating the dynamics of colliding rigid bodies. Virtual reality applications such as virtual assembly planning and ergonomy studies can especially profit from advances in these directions, because they enable an interactive and intuitive manipulation of objects in virtual environments. This paper presents new algorithms for the real-time simulation of multi-body systems with unilateral contacts. The algorithms for dynamic collision detection and for the calculation of contact forces are part of the software library SiLVIA, a simulation library for virtual reality applications.

Business process re-engineering is becoming a main focus in today's e#orts to overcome problems and deficits in the automotive and aerospace industries (e.g., integration in international markets, product complexity, increasing number of product variants, reduction in product development time and cost).

3D collision detection is the most timeconsuming component of many geometric reasoning applications. Any improvements on the efficiency of the collision detection module may have a great impact on the overall performance of these applications. Most efficient collision detection algorithms in the literature use some sort of hierarchical bounding volumes, such as spheres or oriented bounding boxes, to reduce the number of calls to expensive collision checks between polygons. In this paper, we propose an incremental scheme that takes advantage of spatial coherence to improve the performance of this class of algorithms. Experiments have been conducted on a sphere-tree structure for several moving objects. Consistent improvements ranging from 70 to 90 percents were observed. These numbers are actually very close to the theoretical upper bound for such improvements. 1.1 Keywords Collision Detection, Incremental Algorithm, Hierarchical Bounding Volumes, Shape Approximation 2. INTRODUCTION ...