## Consistent penetration depth estimation for deformable collision response (2004)

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Citations: | 35 - 11 self |

### BibTeX

@MISC{Heidelberger04consistentpenetration,

author = {Bruno Heidelberger and Matthias Teschner and Richard Keiser and Matthias Müller and Markus Gross},

title = {Consistent penetration depth estimation for deformable collision response },

year = {2004}

}

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### Abstract

### Citations

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(Show Context)
Citation Context ...he collision. Exact penetration depth computations can be based on Minkowski sums [Cam86, Gui86] or hierarchical object presentations [Dob93], while approximative solutions based on the GJK algorithm =-=[Gil88]-=- and iteratively expanding polytopes have been presented in [Cam97, Ber01]. Further approaches are based on object space discretizations [Fis01], employ graphics hardware [Hof02, Sud04], or introduce ... |

249 | Collision detection and response for computer animation - Moore, Wilhems - 1988 |

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163 | A Fast Voxel Traversal Algorithm for Ray Tracing
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Citation Context ...implicit subdivision of R 3 as described in Sec. 3.2. In a first step, all intersecting edges are classified with respect to the hash grid cells by using an efficient voxel traversal technique, e. g. =-=[Ama87]-=-. In a second step, a simplified boxplane intersection test [Gre94] is performed to classify all mesh faces. If a face intersects with a hash grid cell, all associated edges of the cell are checked fo... |

139 | Interactive Animation of Structured Deformable Objects - Desbrun, Schroder, et al. - 1999 |

136 | Constraint methods for flexible models - Platt, Barr - 1988 |

129 | Optimized Spatial Hashing for Collision Detection of Deformable Objects[J
- Teschner, Heidelberger, et al.
- 2003
(Show Context)
Citation Context ...ions The first stage detects all object points that collide with any tetrahedral mesh in the scene. This volumetric collision detection is accomplished by the spatial hashing approach as presented in =-=[Tes03]-=-. Figure 3: The first stage classifies all mesh points either as colliding points (black) or non-colliding points (white). Spatial hashing implicitly subdivides R 3 into a hash grid composed of small ... |

126 | Enhancing GJK: Computing minimum and penetration distances between convex polyhedra - Cameron |

105 |
An Implicit Formulation for Precise Contact Modeling Between Flexible Solids
- Gascuel
- 1993
(Show Context)
Citation Context ...en used in simulations with deformable objects, cloth and rigid bodies [Moo88, McK90, Des99]. A third approach which directly computes contact surfaces of colliding deformable objects is presented in =-=[Gas93]-=-. Due to their computational efficiency, penaltybased approaches are very appropriate for interactive simulations of deformable objects. They can consider various elasto-mechanical object properties. ... |

100 | Issues in computing contact forces for nonpenetrating rigid bodies - Baraff - 1993 |

94 | Collision detection for deformable objects
- Teschner, Kimmerle, et al.
- 2004
(Show Context)
Citation Context ...ell-investigated, the detection of collisions between deformable structures only recently gained increasing attention. A survey of current approaches to deformable collision detection can be found in =-=[Tes04b]-=-. Based on existing approaches to deformable modeling and collision detection, scenes consisting of several thousand volumetric elements can be simulated at interComputer Graphics Laboratory ETH Zuric... |

85 | Coping with friction for non-penetrating rigid body simulation. Computer Graphics 25(4):31–40 - Baraff - 1991 |

71 | Dynamic simulation of autonomous legged locomotion - McKenna, Zelter - 1990 |

68 | A versatile and robust model for geometrically complex deformable solids
- Teschner, Heidelberger, et al.
- 2004
(Show Context)
Citation Context ...tage, all colliding points have a consistent penetration depth and direction assigned (see Fig. 7).s4 Results We have integrated our method in a simulation environment for deformable objects based on =-=[Tes04a]-=-. Various experiments have been carried out to compare the quality and performance of the proposed method with the standard closest-feature approach. All test scenarios presented in this section have ... |

67 | Computing convolutions by reciprocal search - GUIBAS, SEIDEL - 1987 |

59 | Determining the minimum translational distance between two convex polyhedra - Cameron, Culley |

44 | Difi: Fast 3D distance field computation using graphics hardware - Sud, Otaduy, et al. - 2004 |

25 |
Deformed distance fields for simulation of non-penetrating flexible bodies
- Fisher, Lin
- 2001
(Show Context)
Citation Context ...hile approximative solutions based on the GJK algorithm [Gil88] and iteratively expanding polytopes have been presented in [Cam97, Ber01]. Further approaches are based on object space discretizations =-=[Fis01]-=-, employ graphics hardware [Hof02, Sud04], or introduce incremental optimization steps [Kim04]. While existing approaches very efficiently compute the minimal penetration depth, they do notsaddress in... |

23 |
Detecting Intersection of a Rectangular Solid and a
- Greene
- 1994
(Show Context)
Citation Context ...ep, all intersecting edges are classified with respect to the hash grid cells by using an efficient voxel traversal technique, e. g. [Ama87]. In a second step, a simplified boxplane intersection test =-=[Gre94]-=- is performed to classify all mesh faces. If a face intersects with a hash grid cell, all associated edges of the cell are checked for intersection with the respective face. The actual intersection te... |

14 | Fast 3d geometric proximity queries between rigid and deformable models using graphics hardware acceleration - Hoff, Zaferakis, et al. - 2002 |

10 | An energy-based method for contact force computation - Faure - 1996 |

9 | Incremental penetration depth estimation between convex polytopes using dual-space expansion
- Kim, Lin, et al.
- 2004
(Show Context)
Citation Context ...topes have been presented in [Cam97, Ber01]. Further approaches are based on object space discretizations [Fis01], employ graphics hardware [Hof02, Sud04], or introduce incremental optimization steps =-=[Kim04]-=-. While existing approaches very efficiently compute the minimal penetration depth, they do notsaddress inconsistency problems of the result in discrete-time simulations (see Figs. 1, 2). One solution... |

1 |
Computing the Intersection
- Dobkin, Hershberger, et al.
- 1993
(Show Context)
Citation Context ... as the minimum translation that one object undergoes to resolve the collision. Exact penetration depth computations can be based on Minkowski sums [Cam86, Gui86] or hierarchical object presentations =-=[Dob93]-=-, while approximative solutions based on the GJK algorithm [Gil88] and iteratively expanding polytopes have been presented in [Cam97, Ber01]. Further approaches are based on object space discretizatio... |