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We perform collision detection between static rigid objects using a bounding volume hierarchy which consists of an oriented bounding box (OBB) tree enhanced with bounding spheres. This approach combines the compactness of OBBs and the simplicity of spheres. The majority of distant objects are separated using the simpler sphere tests. The remaining objects… (More)

We present a sweep-based approach to human body modeling and deformation. A rigid 3D human model, given as a polygonal mesh, is approximated with control sweep surfaces. The vertices on the mesh are bound to nearby sweep surfaces and then follow the deformation of the sweep surfaces as the model bends and twists its arms, legs, spine and neck. Anatomical… (More)

We present an accurate and efficient algorithm for continuous collision detection between two moving ellipsoids. We start with a highly optimized implementation of interference testing between two stationary ellipsoids based on an algebraic condition described in terms of the signs of roots of the characteristic equation of two ellipsoids. Then we derive a… (More)

The standard C/C++ implementation of a spatial partitioning data structure, such as octree and quadtree, is often inefficient in terms of storage requirements particularly when the memory overhead for maintaining parent-to-child pointers is significant with respect to the amount of actual data in each tree node. In this work, we present a novel data… (More)

We present an exact algebraic algorithm for real-time continuous collision detection (CCD) for moving ellipsoids under affine deformations. An efficient collision test is first developed for two static ellipsoids, which takes less than 1 microsecond. Using this practical result and the properties of our algebraic condition, we produce a real-time solution… (More)

We present an efficient algorithm for triangle–triangle intersection test in oriented bounding box (OBB)-based collision detection. In testing two OBB leaf nodes (i.e., rectangles), many intermediate computation results can be reused for the intersection test of two triangles they contain. It is considerably easier to detect redundant operations when we… (More)

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