Efficient Collision Detection for Animation and Robotics Part 10 pot

[...]... direct minimization approach for obtaining distance between convex polyhedra International Journal of Robotics Research, 8No 3:65 67, 1989 10 W Bouma and Jr G Vanecek Collision detection and analysis in a physically based simulation In Proceeding of the Seconde Eurographics Workshop on Animation and Simulation, 1992 Vienna Austria 11 J W Boyse Interference detection among solids and surfaces Comm ACM,... there are two major components to a successful and realistic system display: collision detection and collision response Given that we have understood the problem of collision detection reasonably well for the rigid objects, another related problem is to resolve the di culty of simulating the physics of real world objects: Contact forces must be calculated and applied until separation nally occurs; in... Discret Comput Geometry, pages 219 236, 1988 16 J Canny and I Emiris An e cient algorithm for the sparse mixed resultant In G Cohen, T Mora, and O Moreno, editors, Proc 10th Intern Symp on Applied Algebra, Algebraic Algorithms and Error-Correcting Codes, pages 89 104 Springer Verlag, May 1993 Lect Notes in Comp Science 263 17 J F Canny Collision detection for moving polyhedra IEEE Trans PAMI, 8:pp 200 209,... Optimization Theory and Applications, 57No 2:215 222, 1988 2 C Bajaj and T Dey Convex decomposition of polyhedra and robustness SIAM J of Comput., No 2:339 364, 1992 3 D Bara Curved surfaces and coherence for non-penetrating rigid body simulation ACM Computer Graphics, 244:19 28, 1990 4 D Bara Issues on computing contact forces for non-penetrating rigid bodies Algorithmica, Vol 10 2-4:292 352,...125 deformation phase However, it is possible that we use the algorithms described in this thesis as a top level module until the impacts occurs or external forces are applied to the deformable objects, for the purpose of eliminating collision checks But, a fast and exact method is still needed This leads to a new area of exciting research 7.2.4 Collision Response In a physically-based... 10 2-4:292 352, Aug Sept Oct 1993 5 David Bara and Andrew Witkin Dynamic simulation of non-penetrating exible bodies Computer Graphics, 262:303 308, July 1992 6 J Barraquand, B Langlois, and J-C Latombe Robot motion planning with many degrees of freedom and dynamic constraints In Proceedings 5th Int Symp Robotics Research, Tokyo, Japan, 1989 7 R Barzel and A Barr A modeling system based on dynamic... virtual world and guided agent i.e graphic images slaved to other human participants; it also tightly couples among human participants and the force feedback devices It contributes to realistic portrayal of autonomous movements of all virtual objects in the synthetic environments Most dynamic simulators 4, 7, 25, 88, 89 make simpli cation of models in simulating the physics of translating and rotating... generated virtual environment or robotics simulation for manufacturing purposes 126 Many open problems are still left to be addressed The goal of research in this area would be to simulate the dynamics the geometric component, the physics module, the numerical integrator, and motion control in real time 127 Bibliography 1 L E Andersson and N F Steward Maximal distance for robotic simulation: the convex... 1979 12 S A Cameron A study of the clash detection problem in robotics Proc IEEE ICRA, pages pp 488 493, 1985 13 S A Cameron and R K Culley Determining the minimum translational distance between two convex polyhedra Proc IEEE ICRA, pages pp 591 596, 1986 14 J Canny Computing roadmaps of general semi-algebraic sets In AAECC-91, pages 94 107 , 1991 15 J Canny and B Donald Simpli ed voronoi diagrams Discret... objects, and mostly on frictionless impacts Recently, Keller applied Routh's frictional impact equations 75 to a few simpli ed cases with numerous assumptions 49 Wang and Mason also characterize frictional impacts for the two-dimensional impacts 86 Currently Mirtich and Canny are investigating a better approach to model the three-dimensional frictional impact, which will be extremely useful for a general-purpose