Fast Continuous Collision Detection between Rigid Bodies - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles Computer Graphics Forum Year : 2002

Fast Continuous Collision Detection between Rigid Bodies

Stephane Redon
  • Function : Author
  • PersonId : 845742
Abderrahmane Kheddar
Sabine Coquillart
  • Function : Author
  • PersonId : 981409


This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies. As opposed to most collision detection techniques, the computation of the first contact time between two objects is inherently part of the algorithm. The method can thus robustly prevent objects interpenetrations or collisions misses, even when objects are thin or have large velocities. The method is valid for general objects (polygon soups), handles multiple moving objects and acyclic articulated bodies, and is efficient in low and high coherency situations. Moreover, the method can be used to speed up existent continuous collision detection methods for parametric or implicit rigid surfaces. The collision detection algorithms have been successfully coupled to a real-time dynamics simulator. Various experiments are conducted that show the method's ability to produce high-quality interaction (precise objects positioning for example) between models up to tens of thousands of triangles, which couldn't have been performed with previous continuous methods.
Fichier principal
Vignette du fichier
EG2002.pdf (6.46 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

inria-00390356 , version 1 (02-06-2009)



Stephane Redon, Abderrahmane Kheddar, Sabine Coquillart. Fast Continuous Collision Detection between Rigid Bodies. Computer Graphics Forum, 2002, 21 (3), pp.279-287. ⟨10.1111/1467-8659.t01-1-00587⟩. ⟨inria-00390356⟩
2002 View
2759 Download



Gmail Facebook X LinkedIn More