Fast penetration volume for rigid bodies

D. Nirel, D. Lischinski

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

Handling collisions among a large number of bodies can be a performance bottleneck in video games and many other real-time applications. We present a new framework for detecting and resolving collisions using the penetration volume as an interpene-tration measure. Given two non-convex polyhedral bodies, a new sampling paradigm locates their near-contact configurations in advance, and stores associated contact information in a compact database. At runtime, we retrieve a given configuration’s nearest neighbors. By taking advantage of the penetration volume’s continuity, cheap geometric methods can use the neighbors to estimate contact information as well as a translational gradient. This results in an extremely fast, geometry-independent, and trivially parallelizable computation, which constitutes the first global volume-based collision resolution. When processing multiple collisions simultaneously on a 4-core processor, the average running cost is as low as 5 µs. Furthermore, no additional proximity or contact-regions queries are required. These results are orders of magnitude faster than previous penetration Handling collisions among a large number of bodies can be a performance bottleneck in video games and many other real-time applications. We present a new framework for detecting and resolving collisions using the penetration volume as an interpene-tration measure. Given two non-convex polyhedral bodies, a new sampling paradigm locates their near-contact configurations in advance, and stores associated contact information in a compact database. At runtime, we retrieve a given configuration’s nearest neighbors. By taking advantage of the penetration volume’s continuity, cheap geometric methods can use the neighbors to estimate contact information as well as a translational gradient. This results in an extremely fast, geometry-independent, and trivially parallelizable computation, which constitutes the first global volume-based collision resolution. When processing multiple collisions simultaneously on a 4-core processor, the average running cost is as low as 5 µs. Furthermore, no additional proximity or contact-regions queries are required. These results are orders of magnitude faster than previous penetration.

Original languageAmerican English
Pages (from-to)239-250
Number of pages12
JournalComputer Graphics Forum
Volume37
Issue number2
DOIs
StatePublished - 2018

Bibliographical note

Publisher Copyright:
© 2017 The Authors and The Eurographics Association and John Wiley & Sons Ltd.

Keywords

  • Computing methodologies → collision detection
  • Physical simulation

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