Skip to main content
SpringerLink
Log in

Fast continuous collision detection and handling for desktop virtual prototyping

  • Original Article
  • Published:
Virtual Reality Aims and scope Submit manuscript

Abstract

This paper presents an overview of our recent work on continuous collision detection methods and constraints handling for rigid polyhedral objects. We demonstrate that continuous collision detection algorithms are practical in interactive dynamics simulation of complex polyhedral rigid bodies and show how continuous collision detection and efficient constraint-based dynamics algorithms allow us to perform various virtual prototyping tasks intuitively, precisely and robustly on commodity desktop computers. Especially, we present two applications of our system to actual industrial cases. We note that both tasks are performed with a simple 2D mouse on a high-end computer.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4

Similar content being viewed by others

References

  1. Anitescu M, Potra FA (1997) Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems. Nonlin Dyn 14(3):231–247

    Article  MathSciNet  MATH  Google Scholar 

  2. Anitescu M, Potra FA, Stewart DE (1999) Time-stepping for three-dimensional rigid body dynamics. Computational modeling of contact and friction. Comput Methods Appl Mech Eng 177(3–4):183–197

    Article  MathSciNet  MATH  Google Scholar 

  3. Baraff D (1994) Fast contact force computation for nonpenetrating rigid bodies. In: Proceedings of the 21st annual conference on computer graphics and interactive techniques (SIGGRAPH’94), Orlando, Florida, July 1994. ACM SIGGRAPH, Addison-Wesley, Reading, pp 23–34

  4. Baraff D (1995) Interactive simulation of solid rigid bodies. IEEE Comput Graph Appl 15(3):63–75

    Article  Google Scholar 

  5. Baumgarte J (1972) Stabilization of constraints and integrals of motion in dynamical systems. Comput Methods Appl Mech Eng 1:1–16

    MATH  Google Scholar 

  6. Bradshaw G, O’Sullivan C (2002) Sphere-tree construction using dynamic medial axis approximation. In: Proceedings of ACM SIGGRAPH symposium on computer animation (SCA 2002), San Antonio, Texas, July 2002

  7. Canny JF (1986) Collision detection for moving polyhedra. IEEE Trans Patt Anal Mach Intell 8(2):200–209

    Google Scholar 

  8. Gottschalk S, Lin MC, Manocha D (1996) OBB-Tree: a hierarchical structure for rapid interference detection. In: Proceedings of the 23rd annual conference on computer graphics and interactive techniques (SIGGRAPH’96), New Orleans, Louisiana, August 1996. ACM SIGGRAPH, Addison-Wesley, Reading

  9. Klosowski JT, Held M, Mitchell JSB, Sowizral H, Zikan K (1998) Efficient collision detection using bounding volume hierarchies of k-DOPs. IEEE Trans Visualization Comput Graph 4(1):21–36

    Article  Google Scholar 

  10. Hubbard PM (1995) Collision detection for interactive graphics applications. PhD thesis, Cornell University, Ithaca, New York

  11. Jiménez P, Thomas F, Torras C (2001) 3D collision detection: a survey. Comput Graph 25(2):269–285

    Article  Google Scholar 

  12. McKenna M, Zeltzer D (1990) Dynamic simulation of autonomous legged locomotion. In: Proceedings of the 17th annual conference on computer graphics and interactive techniques (SIGGRAPH’90), Dallas, Texas, August 1990. ACM SIGGRAPH, Addison-Wesley, Reading 24:29–38

  13. Lin M, Manocha D (2003) Collision and proximity queries. In: Goodman TNT, O’Rourke J (eds) Handbook of discrete and computational geometry: collision detection. CRC Press, Boca Raton, Florida

  14. Lötstedt P (1984) Numerical simulation of time-dependent contact friction problems in rigid body mechanics. SIAM J Sci Stat Comput 5(2):370–393

    MathSciNet  Google Scholar 

  15. Milenkovic VJ, Schmidl H (2001) Optimization-based animation. In: Proceedings of the 25th international conference on computer graphics and interactive techniques (SIGGRAPH 2001), Los Angeles, California, August 2001. ACM SIGGRAPH, Addison-Wesley, Reading

  16. Mirtich B, Canny J (1995) Impulse-based simulation of rigid bodies. In: Proceedings of the symposium on interactive 3D graphics (SI3D’95), Monterey, California, April 1995

  17. Moore RE (1962) Interval analysis and automatic error analysis in digital computation. PhD thesis, Stanford University, California

  18. Moore M, Wilhelms J (1988) Collision detection and response for computer animation. In: Proceedings of the 15th international conference on computer graphics and interactive techniques (SIGGRAPH 1988), Atlanta, Georgia, August 1988. ACM SIGGRAPH, Addison-Wesley, Reading, pp 289–298

  19. Quinlan S (1994) Efficient distance computation between non-convex objects. In: Proceedings of the international conference on robotics and automation, San Diego, California, May 1994, pp 3324–3329

  20. Redon S, Kheddar A, Coquillart S (2000) An algebraic solution to the problem of collision detection for rigid polyhedral objects. In: Proceedings of IEEE international conference of robotics and automation (ICRA 2000), San Francisco, April 2000

  21. Redon S, Kheddar A, Coquillart S (2001) CONTACT: arbitrary in-between motions for continuous collision detection. In: Proceedings of the 10th IEEE international workshop on robot–human interactive communication (ROMAN 2001), Paris–Bordeaux, France, September 2001

  22. Redon S, Kheddar A, Coquillart S (2002) Gauss’ least constraint principle and rigid body simulations. In: Proceedings of IEEE international conference on robotics and automation, Washington DC, May 2002

  23. Redon S, Kheddar A, Coquillart S (2002) Fast continuous collision detection between rigid bodies. In: Proceedings of the annual conference of the European association for computer graphics (Eurographics 2002), Saarbrucken, Germany, September 2002

  24. Ruspini D, Khatib O (1997) Collision/contact models for the dynamic simulation of complex environments. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems (IROS’97), Grenoble, France, September 1997

  25. Ruspini DC, Kolarov K, Khatib O (1997) The haptic display of complex graphical environments. In: Proceedings of the 24th annual conference on computer graphics and interactive techniques (SIGGRAPH’97), Los Angeles, California, August 1997. ACM SIGGRAPH, Addison-Wesley, Reading, pp 345–52

  26. Snyder J (1992) Interval analysis for computer graphics. Comput Graph 26(2):121–130

    Google Scholar 

  27. Stewart DE, Trinkle JC (1996) An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction. Int J Numerical Methods Eng 39:2673–2691

    Article  MathSciNet  MATH  Google Scholar 

  28. Van den Bergen G (1997) Efficient collision detection of complex deformable models using AABB trees. J Graph Tools 2(4):1–14

    Google Scholar 

  29. Wilhelmsen DR (1976) A nearest point algorithm for convex polyhedral cones and applications to positive linear approximations. Math Comput 30:48–57

    Google Scholar 

Download references

Author information

Author notes

  1. Stephane Redon

    Present address: Department of Computer Science, University of North Carolina, 336 Sitterson Hall, CB # 3175, Chapel Hill, NC, 27599-3175, USA

Authors and Affiliations

  1. i3D, INRIA, France

    Stephane Redon

Authors
  1. Stephane Redon
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Stephane Redon.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Redon, S. Fast continuous collision detection and handling for desktop virtual prototyping. Virtual Reality 8, 63–70 (2004). https://doi.org/10.1007/s10055-004-0138-9

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10055-004-0138-9

Keywords

Search

Navigation