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We cull collisions between very large numbers of moving bodies using graphics processing units (GPUs). To perform massively parallel sweep-and-prune (SaP), we mitigate the great density of intervals along the axis of sweep by using principal component analysis to choose the best sweep direction, together with spatial subdivisions to further reduce the(More)
Penetration depth (PD) is a distance metric that is used to describe the extent of overlap between two intersecting objects. Most of the prior work in PD computation has been restricted to <i>translational PD</i>, which is defined as the minimal translational motion that one of the overlapping objects must undergo in order to make the two objects disjoint.(More)
We present an interactive and accurate collision detection algorithm for deformable, polygonal objects based on the streaming computational model. Our algorithm can detect all possible pairwise primitive-level intersections between two severely deforming models at highly interactive rates. In our streaming computational model, we consider a set of axis(More)
We present a simple algorithm to compute the Hausdorff distance between complicated, polygonal models at interactive rates. The algorithm requires no assumptions about the underlying topology and geometry. To avoid the high computational and implementation complexity of exact Hausdorff distance calculation, we approximate the Hausdorff distance within a(More)
— We present a simple and fast algorithm to perform continuous collision detection between polygonal models undergoing rigid motion for interactive applications. Our approach can handle all triangulated models and makes no assumption about the underlying geometry and topology. The algorithm uses the notion of conservative advancement (CA), originally(More)
We present a novel and fast algorithm to compute penetration depth (PD) between two polyhedral models for physically-based animation. Given two overlapping polyhedra, it computes the minimal translation distance to separate them using a combination of object-space and image-space techniques. The algorithm computes pairwise Minkowski sums of decomposed(More)
— We present an incremental algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a " locally optimal solution " by walking on the surface of the Minkowski sums. The surface of the Minkowski sums is computed implicitly by constructing a local Gauss map. In practice, the algorithm works well when there(More)
We present an efficient algorithm to approximate the swept volume (SV) of a complex polyhedron along a given trajectory. Given the boundary description of the polyhedron and a path specified as a parametric curve, our algorithm enumerates a superset of the boundary surfaces of SV. It consists of ruled and developable surface primitives, and the SV(More)
Figure 1: We present improved subdivision and isosurface reconstruction algorithms for polygonizing implicit surfaces and performing accurate geometric operations. We highlight its performance on the " gun model " of the Bradley Fighting Vehicle which is generated using 8 Boolean operations. The leftmost and center left images show an iso-surface(More)