Collision Detection http://www.cse.iitd.ac.in/ Collision Detection - - PowerPoint PPT Presentation

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collision detection

Collision Detection http://www.cse.iitd.ac.in/ Collision Detection - - PowerPoint PPT Presentation

Apr 08, 2024 284 likes •520 views

IIT Delhi Collision Detection http://www.cse.iitd.ac.in/ Collision Detection IIT Delhi Collision handling is fundamental to animation or dynamic scenes in virtual environments. http://www.cse.iitd.ac.in/ Applications IIT Delhi Games

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http://www.cse.iitd.ac.in/ IIT Delhi

Collision Detection

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http://www.cse.iitd.ac.in/ IIT Delhi

Collision Detection

Collision handling is fundamental to animation or dynamic scenes in virtual environments.

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Applications

Games
Simulation
Virtual Surgical
Vehicle Simulators
Haptics
Character Animation
Molecular Modeling

Similarities in Robotics

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Two Issues

Collision Detection Finding if the collision has occurred: Given

two moving objects defined in an initial and final configuration, determine if they intersected at some point between the two states

geometric problem

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Two Issues

Collision Response Finding the response after collision is found:

predicting behavior, may involve laws of physics

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Collision Detection

Rigid Body Motion

Given N objects, finding collision is O(N2).

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Collision Detection

Deformable objects

Object-object collision Self collision

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Collision Detection

Main Issues

Object-object intersection Have seen some in Clipping, Occlusion Computationally expensive Optimization Space partitioning Object hierarchy Reducing pair wise intersection (Hybrid approach)

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Collision Detection

Type of Query

Boolean flag whether one is intersecting or not Intersecting parts need to be found

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Collision Detection

Feature Approach

Two polyhedra. Inside/outside test: vertex inside the polyhedra? Edge to edge intersection

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Collision Detection

Feature Approach

Mesh to mesh.

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Collision Detection

Broad Phase Approach

Use of Bounding Volumes and Space Partitioning

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Collision Detection

– Bounding Volumes: Some examples

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Collision Detection

Broad Phase Approach

Trees of bounding volumes are used, each level approximating the object. (Bounding Volume Hierarchy, BVH)

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Collision Detection

Sphere Hierarchy

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Collision Detection

Sphere Hierarchy

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Collision Detection

Bounding Volume Based Collision Detection

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Collision Detection

Bounding Volume Based Collision Detection

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Collision Detection

Bounding Volume Based Collision Detection

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Collision Detection

Bounding Volume Based Collision Detection

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Collision Detection

Octree (Quad tree in 2D)

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Collision Detection

Collision Detection: Time Step

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Thank You