The DOI matches its Crossref record; 13 of the 13 references it cites were found in a registry or an index.
V-Clip: fast and robust polyhedral collision detection
Open accessAbstract
This article presents the Voronoi-clip, or V-Clip, collision detection alogrithm for polyhedral objects specified by a boundary representation. V-Clip tracks the closest pair of features between convex polyhedra, using an approach reminiscent of the Lin-Canny closest features algorithm. V-Clip is an improvement over the latter in several respects. Coding complexity is reduced, and robustness is significantly improved; the implementation has no numerical tolerances and does not exhibit cycling problems. The algorithm also handles penetrating polyhedra, and can therefore be used to detect collisions between nonvconvex polyhedra described as hierarchies of convex pieces. The article presents the theoretical principles of V-Clip, and gives a pseudocode description of the algorithm. It also documents various test that compare V-Clip, Lin-Canny, and the Enhanced GJK algorithm, a simplex-based algorithm that is widely used for the same application. The results show V-Clip to be a strong contender in this field, comparing favorably with the other algorithms in most of the tests, in term of both performance and robustness.
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Cites
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Computer graphics — principles and practice
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I-COLLIDE: an interactive and exact collision detection system for large-scale environments
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Approximating polyhedra with spheres for time-critical collision detection
Hubbard, P. M. (1996) · ACM Transactions on Graphics · doi:10.1145/231731.231732 · Cited by 491
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RRT-connect: An efficient approach to single-query path planning
Kuffner, J. J., & LaValle, S. M. (2000) · Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) · doi:10.1109/robot.2000.844730 · Cited by 3,555
Rigid Body Dynamics Algorithms
Featherstone, R. (2008) · Springer eBooks · doi:10.1007/978-1-4899-7560-7 · Cited by 1,376
A review of mobile robots: Concepts, methods, theoretical framework, and applications
Rubio, F., Valero, F., & Llopis-Albert, C. (2019) · International Journal of Advanced Robotic Systems · doi:10.1177/1729881419839596 · Cited by 763
Composable controllers for physics-based character animation
Faloutsos, P., van de Panne, M., & Terzopoulos, D. (2001) · Proceedings of the 28th annual conference on Computer graphics and interactive techniques · doi:10.1145/383259.383287 · Cited by 331
Accurate and Fast Proximity Queries Between Polyhedra Using Convex Surface Decomposition
Ehmann, S. A., & Lin, M. C. (2001) · Computer Graphics Forum · doi:10.1111/1467-8659.00543 · Cited by 264
Metadata
- Authors
- Mirtich, B.
- Venue
- ACM Transactions on Graphics
- Published
- 1998-07
- Volume
- 17
- Issue
- 3
- Pages
- 177-208
- ISSN
- 0730-0301 (ISSN-L)
- 1557-7368
- OpenAlex
- W2045471590
- Cited by
- 403
- References
- 13
- FWCI
- 28.67
- Type
- journal article
- Language
- en
- Open access
- bronze
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
