Paper Info
Title
PolyDepth: Real-time penetration depth computation using iterative contact-space projection
Abstract
We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find an initial collision-free configuration using several methods such as centroid difference, maximally clear configuration, motion coherence, random configuration, and sampling-based search. We project this configuration on to a local contact space using a variant of continuous collision detection algorithm and construct a linear convex cone around the projected configuration. We then formulate a new projection of the in-collision configuration onto the convex cone as a Linear Complementarity Problem (LCP), which we solve using a type of Gauss-Seidel iterative algorithm. We repeat this procedure until a locally optimal PD is obtained. Our algorithm can process complicated models consisting of tens of thousands triangles at interactive rates.
Year
DOI
Venue
2015
10.1145/2077341.2077346
ACM Transactions on Graphics (TOG)
Keywords
DocType
Volume
real-time penetration depth computation,initial collision-free configuration,convex cone,iterative contact-space projection,real-time algorithm,continuous collision detection algorithm,gauss-seidel iterative algorithm,projected configuration,random configuration,in-collision configuration,configuration space,maximally clear configuration
Journal
abs/1508.06181
Issue
ISSN
Citations 
1
ACM Transactions on Graphics (ToG 2012), Volume 31, Issue 1, Article 5, pp. 1-14, January 1, 2012
17
PageRank 
References 
Authors
0.63
26
5
Name
Order
Citations
PageRank
Changsoo Je1776.23
Min Tang262351.33
Youngeun Lee3534.39
Minkyoung Lee41305.75
Young J. Kim572646.87