Continuous Collision Detection for

Adaptive Simulations of Articulated Bodies

Abstract

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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

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

 

 

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Benchmarking Scenarios

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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

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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

 

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