A Linear Programming Solution for Exact Collision Detection

[+] Author and Article Information
Ali Akgunduz

Concordia University, Department of Mechanical and Industrial Engineering, 1455 de Maisonneuve Blvd. West, Montreal, Quebec H3G 1M8 phone (514) 848-2424 (Ext. 3179)e-mail: akgunduz@me.concordia.ca

Prashant Banerjee

University of Illinois at Chicago, Department of Mechanical and Industrial Engineering, 2039 ERF, 842 W. Taylor St., Chicago, IL 60607-7022 phone: (312) 996 5599e-mail: banerjee@uic.edu

Sanjay Mehrotra

Northwestern University, Industrial Engineering and Management Science, 2145 Sheridan Road, Tech C210, Evanston, IL 60208 phone: (847) 491-3155e-mail: mehrotra@iems.nwu.edu

J. Comput. Inf. Sci. Eng 5(1), 48-55 (Mar 14, 2005) (8 pages) doi:10.1115/1.1846053 History: Received May 21, 2004; Revised October 07, 2004; Online March 14, 2005
Copyright © 2005 by ASME
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Grahic Jump Location
Collision is missed due to large time steps
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Early collision determination using virtual plane
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Extended object assuming geometric coherence of frames
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Partially extended object assuming geometric coherence of frames. Only vertices {a, b, c, and d} are extended.
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Bounding box-vertex mapping for interframe collision detection
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Selection of bounding-box vertices closer to the direction of object movement
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Picture of the ten different randomly chosen objects
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Pairwise performance comparison just before the collision
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Performance comparison when number of objects is increased
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Ten different objects under varying object densities determined by different sizes of the enclosing cubical space
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Performance comparison when translational speed is increased
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Performance comparison when rotational speed is increased




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