A Hierarchy of Oct-Sphere Model and its Application in Collision Detection

1994 ◽  
Author(s):  
Heming Yang ◽  
Xinfang Zhang ◽  
Ji Zhou ◽  
Jun Yu
Keyword(s):  
Collision Detection ◽  
Moving Objects ◽  
Interference Detection ◽  
Effective Algorithm ◽  
Sphere Model ◽  
Spherical Region ◽  
New Model

Abstract Collision and interference detection among 3-D moving objects is an important issue in the simulation of their behavior. This paper presents a new model for representing 3-D objects and a corresponding effective algorithm for detecting collisions and interferences among moving objects. Objects can be represented for efficient collision and interference detection by a hierarchy of oct - sphere model (HOSM). Algorithms are given for building the HOSM and for detecting collisions and interferences between moving objects. On the basis of HOSM, the algorithm checks only intersections between the nodes of the models which are on the surfaces of the objects. Furthermore, because a node of HOSM represents a spherical region, the collision between the two nodes can be easily found just by calculating the distance between the centers of the two spheres corresponding to them no matter how the objects move. Finally, we discuss the efficiency of the algorithm through an example.

Continuous Collision and Interference Detection for 3D Geometric Models

2009 ◽  
Vol 9 (2) ◽  
Author(s):  
Horea T. Ilieş
Keyword(s):  
Moving Objects ◽  
Mechanical Design ◽  
Computational Cost ◽  
Three Dimensional ◽  
Boundary Representation ◽  
Interference Detection ◽  
Complex Objects ◽  
New Approach ◽  
Geometric Representations ◽  
The Times

This paper describes a new approach to perform continuous collision and interference detection between a pair of arbitrarily complex objects moving according to general three-dimensional affine motions. Our approach, which does not require any envelope computations, recasts the problem of detecting collisions and computing the interfering subsets in terms of inherently parallel set membership classification tests of specific curves against the original (static) geometric representations. We show that our approach can compute the subsets of the moving objects that collide and interfere, as well as the times of collision, which has important applications in mechanical design and manufacturing. Our approach can be implemented for any geometric representation that supports curve-solid intersections, such as implicit and parametric representations. We describe an implementation of the proposed technique for solids given as a boundary representation (B-rep), and illustrate its effectiveness for several rigid and deformable moving objects bounded by tesselated and freeform surfaces of various complexities. Furthermore, we show that our approach can be extended to also identify the local and global self-intersections of the envelopes of the moving objects without requiring to compute these envelopes explicitly. The paper concludes by summarizing the proposed approach as well as reviewing relevant computational improvements that can decrease the computational cost of the prototype implementation by orders of magnitude.

Fast Collision Detection and Deformation of Soft Tissue in Virtual Surgery

2013 ◽  
Vol 380-384 ◽  
pp. 778-781
Author(s):  
Ling Ling Shi ◽  
Zhi Yuan Yan ◽  
Zhi Jiang Du
Keyword(s):  
Soft Tissue ◽  
Collision Detection ◽  
Surgical Instruments ◽  
Virtual Surgery ◽  
Surface Model ◽  
Sphere Model ◽  
Soft Tissue Deformation ◽  
Bounding Volume ◽  
Mass Spring ◽  
Fast Collision

In the virtual scene of robot assisted virtual surgery simulation system, the surgical instruments achieve complex motion following the haptic devices and the soft tissue deforms continuously under interaction forces. In order to meet the rapidity of collision detection, an algorithm based on changeable direction hull bounding volume hierarchy is proposed. Strategy of combining surface model with body model is developed for soft tissue deformation. Skeleton sphere model of soft tissue is built. Deformation can be achieved based on mass-spring theory after matching collision information with the skeleton sphere model. The experiments show that the proposed collision detection method implements faster speed compared with fixed direction hull algorithm and soft tissue deforms through combination of collision information with sphere model.

A new solid model HSM and its application to interference detection between moving objects

1991 ◽  
Vol 8 (1) ◽  
pp. 39-54 ◽  
Author(s):  
Yun-Hui Liu ◽  
Suguru Arimoto ◽  
Hiroshi Noborio
Keyword(s):  
Moving Objects ◽  
Solid Model ◽  
Interference Detection

An Octree Algorithm for Dynamic Interference Detection Using Space Partitioning

1996 ◽  
Author(s):  
Yongxiang Yu ◽  
Minghua Wu ◽  
Ji Zhou
Keyword(s):  
Collision Detection ◽  
Computation Time ◽  
Interference Detection ◽  
Space Partitioning ◽  
Time Consumption ◽  
Dynamic Interference ◽  
Partitioning Technique

Abstract This paper presents an octree algorithm for collision and interference detection using space partitioning technique. The technique greatly reduces the computation time consumed in dynamic collision detection during simulation progress. The simulated objects are represented in hierarchically decomposed octrees. Under this technique, the checking space can be partitioned according to the geometric dependence of two octrees, so that the relations (overlap or separate) among the nodes in the octrees can be determined directly. Since heuristic calculation is excluded from the algorithm, the time consumption for collision detection is greatly reduced.

Interference Detection of Non-Convex Solids for Manipulators

1994 ◽  
Author(s):  
Karim A. Abdel-Malek ◽  
Burton Paul
Keyword(s):  
Computer Aided Design ◽  
Analytical Study ◽  
Moving Objects ◽  
Computational Method ◽  
Interference Detection ◽  
Curved Surfaces ◽  
Multiply Connected ◽  
Points Of Interest ◽  
Intersection Points ◽  
Aided Design

Abstract When performing a computer simulation on analytical study of robot motions it is possible to unwittingly require a part of the robot (e.g. the hand) to interpenetrate (i.e. to interfere with) another part (e.g. an arm). It is therefore important to be able to predict in advance whether self interference or collision of any type occurs. This problem arises in fields of interest other than robotics, e.g. computer aided design and computer graphics. In this report, we have developed a computational method which predicts interference of moving objects in space. The method works for non-convex solids and multiply-connected solids (solids containing holes). The method checks the boundaries of surfaces enveloping solids for interference. Every pair of surfaces (one on each body) are examined for points of intersection. Points of interest are then studied to determine whether any two solids do interfere. The theory is developed for planar, ruled, and double curved surfaces.

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