Fast continuous collision detection for articulated models
Abstract
We present a novel algorithm to perform continuous collision detection for articulated models. Given two discrete configurations
of the links of an articulated model, we use an “arbitrary in-between motion” to interpolate its motion between two
successive time steps and check the resulting trajectory for collisions. Our approach uses a three-stage pipeline: (1) dynamic
bounding-volume hierarchy (D-BVH) culling based on interval arithmetic; (2) culling refinement using the swept volume of line
swept sphere (LSS) and graphics hardware accelerated queries; (3) exact contact computation using OBB-trees and continuous
collision detection between triangular primitives. The overall algorithm computes the time of collision, contact locations and
prevents any interpenetration between the articulated model with the environment. We have implemented the algorithm and
tested its performance on a 2.4 GHz Pentium PC with 1 Gbyte of RAM and a NVIDIA GeForce FX 5800 graphics card. In
practice, our algorithm is able to perform accurate and continuous collision detection between articulated models and complex
environments at nearly interactive rates.