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Journal Articles The Visual Computer Year : 2008

Continuous Collision Detection for Adaptive Simulation of Articulated Bodies

Abstract

We perform continuous collision detection (CCD) for articulated bodies where motion is governed by an adaptive dynamics simulation. Our algorithm is based on a novel hierarchical set of transforms that represent the kinematics of an articulated body recursively, as described by an assembly tree. The performance of our CCD algorithm significantly improves as the number of active degrees of freedom in the simulation decreases.
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Dates and versions

inria-00390311 , version 1 (01-06-2009)

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Sujeong Kim, Stephane Redon, Young J. Kim. Continuous Collision Detection for Adaptive Simulation of Articulated Bodies. The Visual Computer, 2008, 24 (4), pp.261-269. ⟨10.1007/s00371-007-0196-6⟩. ⟨inria-00390311⟩
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