An algebraic solution to the problem of collision detection for rigid polyhedral objects

Stéphane Redon (1) , Abderrahmane Kheddar (2) , Sabine Coquillart (3)

1 Action i3D
2 LSC - Laboratoire Systèmes Complexes
3 INRIA Rocquencourt

This paper describes a new collision detection algorithm designed for interactive manipulation in virtual environments. Making some assumptions on objects motion, the collision time between two objects can be computed by solving a polynomial equation whose degree is equal to or smaller than three.

Domaines: Modélisation et simulation

Stéphane Redon, Abderrahmane Kheddar, Sabine Coquillart. An algebraic solution to the problem of collision detection for rigid polyhedral objects. Proc. of IEEE Conference on Robotics and Automation, Apr 2000, San Fransisco, CA, United States. pp. 3733 - 3738, ⟨10.1109/ROBOT.2000.845313⟩. ⟨hal-01147663⟩