Continuous Collision Detection for

Adaptive Simulations of Articulated Bodies


We present a novel algorithm to perform continuous collision detection (CCD) for articulated bodies when the motion of bodies is governed by an adaptive dynamics simulation. The algorithm is based on a novel hierarchical set of transforms to represent the kinematics of an articulated body recursively described by an assembly tree. The performance of our CCD algorithm significantly improves as the number of active degrees of freedom in the adaptive simulation of articulated bodies decreases.




Key Words

Continuous collision detection, Articulated body dynamics, Adaptive dynamics, Interval arithmetic



Full Text    

pdf (1.4MBytes)



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Benchmark Scenario
Number of active joints
Windows Media Video 9
Wooden Men
0 (Rigid)
28 (All)
30 (All)
Falling Wooden Man
0 (Rigid)
28 (All)

( Download Windows Media Video 9 Codec )



Benchmarking Scenarios



Wooden Men

A wooden man consisting of 29 rigid bodies, 16K triangles for each model, collides with another man. The number of active joints is 15


A Pendulum

A pendulum consisting of 30 rigid bodies and 16K triangles is self-colliding


Falling Wooden Man

A wooden man falls due to the gravity and collides with static plates. The entire static environment consists of 44K triangles in total.



In these figures, rigid bodies with identical colors belong to the same group of rigidified links



Links to Relevant Research

Adaptive Dynamics of Articulated Bodies project page
by Stephane Redon, Nico Galoppo and Ming C. Lin

Fast Continuous Collision Detection for Articulated Models project page

by Stephane Redon, Young J. Kim, Ming C. Lin, Dinesh Manocha


Copyright 2006 Computer Graphics Laboratory

Dept of Computer Science & Engineering

Ewha Womans University, Seoul, Korea

Last update: Dec 1, 2006