An algebraic approach to continuous collision detection for ellipsoids |
| |
Authors: | Xiaohong Jia Yi-King Choi |
| |
Affiliation: | a The University of Hong Kong, Pokfulam Road, Hong Kong, China b GALAAD, INRIA Méditerranée, 2004 route des lucioles, 06902 Sophia-Antipolis, France |
| |
Abstract: | We present algebraic expressions for characterizing three configurations formed by two ellipsoids in R3 that are relevant to collision detection: separation, external touching and overlapping. These conditions are given in terms of explicit formulae expressed by the subresultant sequence of the characteristic polynomial of the two ellipsoids and its derivative. For any two ellipsoids, the signs of these formulae can easily be evaluated to classify their configuration. Furthermore, based on these algebraic conditions, an efficient method is developed for continuous collision detection of two moving ellipsoids under arbitrary motions. |
| |
Keywords: | Moving ellipsoids Characteristic equation Continuous collision detection Algebraic conditions Subresultants |
本文献已被 ScienceDirect 等数据库收录! |
|