## Approximating Polyhedra with Spheres for Time-Critical Collision Detection (1996)

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Venue: | ACM Transactions on Graphics |

Citations: | 177 - 1 self |

### BibTeX

@ARTICLE{Hubbard96approximatingpolyhedra,

author = {Philip M. Hubbard},

title = {Approximating Polyhedra with Spheres for Time-Critical Collision Detection},

journal = {ACM Transactions on Graphics},

year = {1996},

volume = {15},

pages = {179--210}

}

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### Abstract

This paper presents a method for approximating polyhedral objects to support a timecritical collision-detection algorithm. The approximations are hierarchies of spheres, and they allow the time-critical algorithm to progressively refine the accuracy of its detection, stopping as needed to maintain the real-time performance essential for interactive applications. The key to this approach is a preprocess that automatically builds tightly fitting hierarchies for rigid and articulated objects. The preprocess uses medial-axis surfaces, which are skeletal representations of objects. These skeletons guide an optimization technique that gives the hierarchies accuracy properties appropriate for collision detection. In a sample application, hierarchies built this way allow the time-critical collision-detection algorithm to have acceptable accuracy, improving significantly on that possible with hierarchies built by previous techniques. The performance of the time-critical algorithm in this appli...