Efficient Collision Detection for Moving Ellipsoids Using Separating Planes

Wenping Wang, Yi-King Choi, Bin Chan, Myung-Soo Kim and Jiaye Wang
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Wenping Wang: The University of Hong Kong, Department of Computer Science and Information Systems
Yi-King Choi: The University of Hong Kong, Department of Computer Science and Information Systems
Bin Chan: The University of Hong Kong, Department of Computer Science and Information Systems
Myung-Soo Kim: Seoul National University, School of Computer Science and Engineering, Institute of Computer Technology
Jiaye Wang: Shandong Uinversity, Department of Computer Science

A chapter in Geometric Modelling, 2004, pp 235-246 from Springer

Abstract: Abstract We present a simple, accurate and efficient algorithm for collision detection among moving ellipsoids. Its efficiency is attributed to two results: (i) a simple algebraic test for the separation of two ellipsoids, and (ii) an efficient method for constructing a separating plane between two disjoint ellipsoids. Inter-frame coherence is exploited by using the separating plane to reduce collision detection to simpler subproblems of testing for collision between the plane and each of the ellipsoids. Compared with previous algorithms (such as the GJK method) which employ polygonal approximation of ellipsoids, our algorithm demonstrates comparable computing speed and much higher accuracy.

Keywords: Collision detection; ellipsoids; algebraic test; separating plane; characteristic equation; self-polar; 65D17; 68U07; 68U05 (search for similar items in EconPapers)
Date: 2004
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DOI: 10.1007/978-3-7091-0587-0_19

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