Unified Continuous Collision Detection Framework for Deformable Objects

Abstract

AbstractVarious types of advanced continuous collision detection algorithms have significantly improved the quality of physically-based animation and robot navigation planning. However, these continuous collision detection methods are not implemented in a unified software framework, which brings along lots of disadvantages such as breaking connection of different modalities, lack of module reuse and inconvenience to method comparison. This paper discusses continuous collision detection process from the viewport of data flow and implements an extensible Unified Collision-Detection Software Framework (UCSF). The goal of this framework is to make the development of collision detection for deformable objects much easier, and implement a set of popular collision detection algorithms, so that it is convenient for researchers to compare against. The overall design and certain key technologies are introduced in detail. Presented experiment examples and practical applications commendably demonstrate the validity of this framework.KeywordsContinuous collision detectionBounding volume hierarchiesDeformable objectsFrameworkSelf-collisionGPU