Collision Detection for Deformable Models Bounding Volume Test

Collision Detection for Deformable Models

Bounding Volume Test Collision Detection for Deformable Models Culling Techniques Triangle Test 6 VF 9 EE 15 cubic Equations

High-Level Culling Techniques Low-Level Culling

Culling Techniques • High-Level Culling – Front-Based Decomposition • Low-level Culling – Orphan Set – Representative Triangles – Non-penetration Filter

Orphan Set Interactive Continuous Collision Detection between Deformable Models using Connectivity-Based Culling

DIFFERENCE ? Intra-intersection Rigid Deformable

New Way Traditional 15 6: vertex - face 9: edge - edge

New Way Observation 4 (Va, tb) (Vb, ta) (ea 1, eb 1) (ea 2, eb 2)

New Way Non-adjacent Test Another Observation

can be tested in non-adjacent step Adjacent Elementary Pairs New Way cannot be tested in non-adjacent step Non-adjacent Test Orphan Set Orphan Test

Representative-Triangles Fast Collision Detection for Deformable Models using Representative. Triangles

Motivation

Representative-Triangles

Motivation

Representative-Triangles How to assign?

Non-Penetration Filter Fast Continuous Collision Detection using Deforming Non-Penetration Filters

Non-Penetration Filter

Culling Techniques • Low-level Culling – Orphan Set – Representative Triangles – Non-penetration Filter • High-Level Culling – Front-Based Decomposition

Front-Based Decomposition MCCD: Multi-Core Collision Detection between Deformable Models using Front-Based Decomposition

BVH BVTT Front

Bounding Volume Test Tree BVTT Front

Basic idea of FBD: Incremental 3 D Collision Detection with Hierarchical Data Structures

Front-Based Decomposition

Culling Techniques • Low-level Culling – Orphan Set – Representative Triangles – Non-penetration Filter • High-Level Culling – Front-Based Decomposition

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