|
|||||
|
|
Continuous collision detection for adaptive simulation of articulated bodies |
|
| Authors: | Sujeong Kim Stephane Redon Young J Kim |
| Affiliation: | 1. Department of Computer Science and Engineering, Ewha Womans University, 11-1 Daehyun-Dong, Seodaemun-Gu, Seoul, 120-750, Korea 2. i3D, INRIA Grenoble – Rh?ne-Alpes, 655 Avenue de l’Europe, Montbonnot, 38334, France |
| Abstract: | We perform continuous collision detection (CCD) for articulated bodies where motion is governed by an adaptive dynamics simulation. Our algorithm is based on a novel hierarchical set of transforms that represent the kinematics of an articulated body recursively, as described by an assembly tree. The performance of our CCD algorithm significantly improves as the number of active degrees of freedom in the simulation decreases. |
| Keywords: | Continuous collision detection Articulated body dynamics Adaptive dynamics Interval arithmetic |
| 本文献已被 SpringerLink 等数据库收录！ | |