Computing

, Volume 72, Issue 1–2, pp 235–246 | Cite as

Efficient Collision Detection for Moving Ellipsoids Using Separating Planes

  • Wenping Wang
  • Yi-King Choi
  • Bin Chan
  • Myung-Soo Kim
  • Jiaye Wang
Article

Abstract

We present a simple, accurate and efficient algorithm for collision detection among moving ellipsoids. Its efficiency is attributed to two results: (i) a simple algebraic test for the separation of two ellipsoids, and (ii) an efficient method for constructing a separating plane between two disjoint ellipsoids. Inter-frame coherence is exploited by using the separating plane to reduce collision detection to simpler subproblems of testing for collision between the plane and each of the ellipsoids. Compared with previous algorithms (such as the GJK method) which employ polygonal approximation of ellipsoids, our algorithm demonstrates comparable computing speed and much higher accuracy.

AMS Subject Classification

65D17 68U07 68U05 

Keywords

Collision detection ellipsoids algebraic test separating plane characteristic equation self-polar 

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Copyright information

© Springer-Verlag Wien 2004

Authors and Affiliations

  • Wenping Wang
    • 1
  • Yi-King Choi
    • 1
  • Bin Chan
    • 1
  • Myung-Soo Kim
    • 2
  • Jiaye Wang
    • 3
  1. 1.Department of Computer Science and Information SystemsThe University of Hong KongHong KongChina
  2. 2.School of Computer Science and EngineeringInstitute of Computer Technology, Seoul National UniversitySeoulKorea
  3. 3.Department of Computer ScienceShandong UinversityJinanChina

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