Proximity Queries between Interval-Based CSG Octrees

Abstract

This short paper is concerned with a new algorithm for collision and distance calculation between CSG octrees, a generalization of an octree model created from a Constructive Solid Geometry (CSG) object. The data structure uses interval arithmetic and allows us to extend the tests for classifying points in space as inside, on the boundary, or outside a CSG object to entire sections of the space at once. Tree nodes with additional information about relevant parts of the CSG object are introduced in order to reduce the depth of the required subdivision. The new data structure reduces the input complexity and enables us to reconstruct the CSG object. We present an efficient algorithm for computing the distance between CSG objects encoded by the new data structure. The distance algorithm is based on a distance algorithm for classical octrees but, additionally, it utilizes an elaborated sort sequence and differentiated handling of pairs of octree nodes to enhance its efficiency. Experimental results indicate that, in comparison to common octrees, the new representation has advantages in the field of proximity query.