user input and collision detection

... Andrew Packard 1993 E cient Collision Detection for Animation and Robotics Copyright c 1993 by Ming Chieh Lin i Abstract E cient Collision Detection for Animation and Robotics by Ming Chieh Lin ... : : : : : : : 4.1.2 Detection for Non-Convex Polyhedra : : : : : : : : : : 4.2 Collision Detection for Curved Objects : : : : : : : : : : : : : 4.2.1 Collision Detection and Surface Intersection ... response to collisions in a timely fashion, a simple yet e cient algorithm for collision detection is important for fast and realistic animation and simulation of moving objects The interference detection...

Ngày tải lên: 14/03/2014, 14:20

... Andrew Packard 1993 E cient Collision Detection for Animation and Robotics Copyright c 1993 by Ming Chieh Lin i Abstract E cient Collision Detection for Animation and Robotics by Ming Chieh Lin ... : : : : : : : 4.1.2 Detection for Non-Convex Polyhedra : : : : : : : : : : 4.2 Collision Detection for Curved Objects : : : : : : : : : : : : : 4.2.1 Collision Detection and Surface Intersection ... response to collisions in a timely fashion, a simple yet e cient algorithm for collision detection is important for fast and realistic animation and simulation of moving objects The interference detection...

Ngày tải lên: 31/03/2014, 10:20

... Andrew Packard 1993 E cient Collision Detection for Animation and Robotics Copyright c 1993 by Ming Chieh Lin i Abstract E cient Collision Detection for Animation and Robotics by Ming Chieh Lin ... : : : : : : : 4.1.2 Detection for Non-Convex Polyhedra : : : : : : : : : : 4.2 Collision Detection for Curved Objects : : : : : : : : : : : : : 4.2.1 Collision Detection and Surface Intersection ... response to collisions in a timely fashion, a simple yet e cient algorithm for collision detection is important for fast and realistic animation and simulation of moving objects The interference detection...

Ngày tải lên: 10/08/2014, 02:20

... where pi and qj are vertices of A and B respectively The variables are p, v, i 's and j 's There are n + n +6 constraints: n and n linear constraints from solving i's and j 's and linear ... Gilbert and his collaborators computed the minimum distance between two convex objects with an expected linear time algorithm and used it for collision detection Our work shares with 38 , 39 , and ... function of time In 70 , Pentland and Williams proposes using implicit functions to represent shape and the property of the inside-outside" functions for collision detection Besides its restriction...

Ngày tải lên: 10/08/2014, 02:20

... vertex-vertex, vertex-edge, and vertex-face 2 degenerate cases edge-edge, edge-face, and face-face For non-degenerate and edge-edge cases, the algorithm rst takes any pair of features fA and fB , then nd ... and right faces and boundary the two end points of E This is the Voronoi region of E If this is the case, the shortest distance between P and the other object is the distance between P and ... distance between HE and F can be computed easily by HE
NF where NF is F 's unit outward normal and similarly for the signed distance between F and HT THEN, when the head HE and tail TE of the...

Ngày tải lên: 10/08/2014, 02:20

... between two parents, there is no collision and the algorithm updates the closest-feature pair and the distance between them If there is a collision, then it will expand their children All children ... obtained from our Lisp code are brie y summarized in Table M1 and M2 stand for the number of vertices for each object respectively; and N stands for the total number of vertices between the two objects ... implementation gives better performance and probably is the fastest implemented collision detection algorithm Please see 65 , 13 , 17 , 40 , 39 , 38 , 72 , and 90  This is especially true in a...

Ngày tải lên: 10/08/2014, 02:20

... parametric surfaces Fs; t and Gu; v, both of their 66 numerators and denominators are polynomials of degree n, the degrees of numerators and denominators of the partials are 2n , and 2n respectively ... n We have six quations after eliminating and : two of degrees 2n , 2 and four of degress n respectively 2 from eliminating and from f x ; y ; z  and gx ; y ; z  Therefore, the Bezout ... of collision detection between two B zier surfaces is solved by e nding all the solutions to the equations 4.5 and 4.7 A real solution in the domain to those equations implies a geometric collision...

Ngày tải lên: 10/08/2014, 02:20

... apply the algorithm described in Chapter to perform 81 collision detection and to nd the exact contact points if applicable 5.2 Sweep & Sort and Interval Tree In the three-dimensional workspace, ... the point of collision detection The bounding box can either be spherical or rectangular even elliptical, depending on the application and the environment We prefer spherical and rectangular ... insertion and deletion is in exible and cumbersome, especially for a large tree The overhead of insertion and deletion of a node in a tree can easily dominate the run time, especially when a collision...

Ngày tải lên: 10/08/2014, 02:20

... channels C and C joining the channel C , and a bridge curve in C 3 97 Start tracing a freeway curve from the start guration, and also from the goal If the curves leading from the start and goal ... algorithm takes as input a geometric description of the robot links and obstacles as convex polyhedra or unions of convex polyhedra It also takes the initial and goal gurations, and the kinematic ... the original, v = xi and u = xj where xi and xj are both CS coordinates The original Roadmap algorithm xes the xi coordinate and follows extremal points maxima, minima and saddles in xj , to...

Ngày tải lên: 10/08/2014, 02:20

... This is an interesting and challenging geometry and modeling problem      7.2.3 Collision Detection for Deformable objects One of most challenging problems is collision detection for objects ... concavity and degeneracy may be introduced due to external forces, and the shape of objects can be changed in all possible ways Therefore, the problem of collision detection becomes rather complex and ... user de ned safety tolerance and returns the contacting feature pair if they are just touching or intersecting The methodology described can be employed in distance calculations, collision detection, ...

Ngày tải lên: 10/08/2014, 02:20

... 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 ... IV EDGE-EDGE: Let H and T be the head and tail of the edge E respectively And H and T be the head and tail of the edge E as well Vectors ~ and ~ are e e de ned as ~ = H , T and ~ = H , T We can ... Mirtich and J Canny Impusle-based, real time dynamic simulation Submitted to ACM SIGGRAPH, 1994 University of California, Berkeley 133 63 M Moore and J Wilhelms Collision detection and response...

Ngày tải lên: 10/08/2014, 02:20

... calculate the distance between them  and returns the distance between them It takes in features Since it is rather simple,  we only document its functionality and input here PROCEDURE distfeat1, ... by marching along the boundary of Fa and  Fb to find the intersecting edges thus the overlap polygon,  where N and M is the number of vertices of Fa and Fb PROCEDURE overlapFa, Fb  ... closestToFplaneFa, Fb  Given an edge E and a face F, it finds the closest vertex  or edge in the boundary of the face F PROCEDURE closestToEE, F 142  Given faces "Fa" and "Fb", it find the pair of...

Ngày tải lên: 10/08/2014, 02:20

... Andrew Packard 1993 E cient Collision Detection for Animation and Robotics Copyright c 1993 by Ming Chieh Lin i Abstract E cient Collision Detection for Animation and Robotics by Ming Chieh Lin ... : : : : : : : 4.1.2 Detection for Non-Convex Polyhedra : : : : : : : : : : 4.2 Collision Detection for Curved Objects : : : : : : : : : : : : : 4.2.1 Collision Detection and Surface Intersection ... response to collisions in a timely fashion, a simple yet e cient algorithm for collision detection is important for fast and realistic animation and simulation of moving objects The interference detection...

Ngày tải lên: 10/08/2014, 04:21

... where pi and qj are vertices of A and B respectively The variables are p, v, i 's and j 's There are n + n +6 constraints: n and n linear constraints from solving i's and j 's and linear ... earlier survey on clash detection" was presented by Cameron 12 He mentioned three di erent approaches for dynamic collision detection One of them is to perform static collision detection repetitively ... function of time In 70 , Pentland and Williams proposes using implicit functions to represent shape and the property of the inside-outside" functions for collision detection Besides its restriction...

Ngày tải lên: 10/08/2014, 04:21

... , q j inf and let PA A, PB B be such that dAB =j PA , PB j then PA and PB are a pair of closest points between objects A and B For each pair of features fA and fB  from objects A and B, rst ... presented in 56 and they work very well in practice The global root nders are used in the preprocessing stage As the objects undergo motion, the problem of collision detection and contact determination ... features boundary and coboundary as de ned in Sec 2.1.2 of the candidate features If the features fail the test, we step to a neighboring feature of one or both candidates, and try again With...

Ngày tải lên: 10/08/2014, 04:21

... need to consider: 1 a pair of vertices, 2 a vertex and an edge, 3 a vertex and a face, 4 a pair of edges, 5 an edge and a face, and 6 two faces In general, the case of two faces or ... Given a pair of features fA and fB each from convex polyhedra A and B respectively, except for cases 1, 5 and 6, we begin by computing the nearest points between fA and fB The details for ... will be returned and the algorithm will be called again until the closest-feature pair is found 4 Similarly, given a pair of edges EA and EB as inputs, if their nearest points PA and PB satisfy...

Ngày tải lên: 10/08/2014, 04:21

... the respective applicability constraints of FB and FA So, PA and PB are the closest points on A and B ; and the 49 features containing them, FA and FB , will be returned as the closest features ... distance between HE and F can be computed easily by HE
NF where NF is F 's unit outward normal and similarly for the signed distance between F and HT THEN, when the head HE and tail TE of the ... determine whether FA and EB are the next candidate features 16 THEN, the algorithm checks IF THE END POINT OF EB LIES ABOVE FA 17 THEN, the new pair of candidate features is FA and EB since EB...

Ngày tải lên: 10/08/2014, 04:21

... of collision detection between two B zier surfaces is solved by e nding all the solutions to the equations 4.5 and 4.7 A real solution in the domain to those equations implies a geometric collision ... initial separation and the possible collision time among all pairs of objects and the obstacles, assuming that the magnitude of relative initial velocity, relative maximum acceleration and velocity ... apply the algorithm described in Chapter to perform 81 collision detection and to nd the exact contact points if applicable 5.2 Sweep & Sort and Interval Tree In the three-dimensional workspace,...

Ngày tải lên: 10/08/2014, 04:21

... channels C and C joining the channel C , and a bridge curve in C 3 97 Start tracing a freeway curve from the start guration, and also from the goal If the curves leading from the start and goal ... algorithm takes as input a geometric description of the robot links and obstacles as convex polyhedra or unions of convex polyhedra It also takes the initial and goal gurations, and the kinematic ... escaping local maxima But whereas Barraquand and Latombe's method is a local method made global, we have taken a global method the Roadmap Algorithm and found a local opportunistic way to compute...

Ngày tải lên: 10/08/2014, 04:21

... 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 ... This is an interesting and challenging geometry and modeling problem      7.2.3 Collision Detection for Deformable objects One of most challenging problems is collision detection for objects ... facets frequently and the numerical solution will be rather poor for the purpose of simulating dynamics and robust integration Snyder and etc 81 present a general collision detection algorithm...

Ngày tải lên: 10/08/2014, 04:21