Abstract
This paper presents the Hierarchical Walk, or H-Walk algorithm, which maintains the distance between two moving convex bodies by exploiting both motion coherence and hierarchical representations. For convex polygons, we prove that H-Walk improves on the classic Lin–Canny and Dobkin–Kirkpatrick algorithms. We have implemented H-Walk for moving convex polyhedra in three dimensions. Experimental results indicate that, unlike previous incremental distance computation algorithms, H-Walk adapts well to variable coherence in the motion and provides consistent performance.
Published Version
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