Efficient collision detection for moving ellipsoids using separating planes

We present a simple, accurate and efficient algorithm for collision detection among moving ellipsoids. Its efficiency is attributed to two results: (i) a simple algebraic test for the separation of two ellipsoids, and (ii) an efficient method for constructing a separating plane between two disjoint...

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Bibliographic Details
Published in:	Computing 2004-04, Vol.72 (1-2), p.235-246
Main Authors:	WANG, W, CHOI, Y-K, CHAN, B, KIM, M-S, WANG, J
Format:	Article
Language:	eng
Subjects:	Algebra Algorithmics. Computability. Computer arithmetics Algorithms Applied sciences Approximation Computer science control theory systems Eigen values Exact sciences and technology Geometry Mathematical analysis Mathematics Methods of scientific computing (including symbolic computation, algebraic computation) Numerical analysis Numerical analysis. Scientific computation Numerical controls Sciences and techniques of general use Simulation Studies Theoretical computing
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Summary:	We present a simple, accurate and efficient algorithm for collision detection among moving ellipsoids. Its efficiency is attributed to two results: (i) a simple algebraic test for the separation of two ellipsoids, and (ii) an efficient method for constructing a separating plane between two disjoint ellipsoids. Interframe coherence is exploited by using the separating plane to reduce collision detection to simpler subproblems of testing for collision between the plane and each of the ellipsoids. Compared with previous algorithms (such as the GJK method) which employ polygonal approximation of ellipsoids, our algorithm demonstrates comparable computing speed and much higher accuracy. [PUBLICATION ABSTRACT]
ISSN:	0010-485X 1436-5057