CONTACT: Arbitrary in-between motions for collision detection

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

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

A new approach to the collision detection problem was introduced previously by the authors (2000), that allows one to detect collisions continuously and efficiently between polyhedral primitives (vertices, edges and faces). This paper extends the previous results to continuously detect collisions between pairs of complex polyhedral objects. A C++ library, CONTACT, is developed. The tests of this library reported show that this approach is especially suited for a precise real-time interaction in virtual environments

Domaines: Modélisation et simulation

Stéphane Redon, Abderrahmane Kheddar, Sabine Coquillart. CONTACT: Arbitrary in-between motions for collision detection. Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on, 2001, Bordeaux and Paris, France. pp.106--111. ⟨hal-01147668⟩