Clearance detector and method for motion and distance

Xavier, Patrick G

Clearance detector and method for motion and distance

Patent · Tue Aug 09 04:00:00 EDT 2011

OSTI ID:1025607

Xavier, Patrick G ^[1]

Albuquerque, NM

A method for correct and efficient detection of clearances between three-dimensional bodies in computer-based simulations, where one or both of the volumes is subject to translation and/or rotations. The method conservatively determines of the size of such clearances and whether there is a collision between the bodies. Given two bodies, each of which is undergoing separate motions, the method utilizes bounding-volume hierarchy representations for the two bodies and, mappings and inverse mappings for the motions of the two bodies. The method uses the representations, mappings and direction vectors to determine the directionally furthest locations of points on the convex hulls of the volumes virtually swept by the bodies and hence the clearance between the bodies, without having to calculate the convex hulls of the bodies. The method includes clearance detection for bodies comprising convex geometrical primitives and more specific techniques for bodies comprising convex polyhedra.

Research Organization:: Sandia National Laboratories

Sponsoring Organization:: USDOE

DOE Contract Number:: AC04-94AL85000

Assignee:: Sandia Corporation (Albuquerque, NM)

Patent Number(s):: 7,996,197

Application Number:: 11/654,826

OSTI ID:: 1025607

Country of Publication:: United States

Language:: English

References (8)

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Collision Detection for Moving Polyhedra Canny, John IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. PAMI-8, Issue 2 https://doi.org/10.1109/TPAMI.1986.4767773	journal	March 1986
On visible surface generation by a priori tree structures Fuchs, Henry; Kedem, Zvi M.; Naylor, Bruce F. ACM SIGGRAPH Computer Graphics, Vol. 14, Issue 3 https://doi.org/10.1145/965105.807481	journal	July 1980
Collision detection by four-dimensional intersection testing Cameron, S. IEEE Transactions on Robotics and Automation, Vol. 6, Issue 3 https://doi.org/10.1109/70.56661	journal	June 1990
Fast swept-volume distance for robust collision detection Xavier, P. G. Proceedings of International Conference on Robotics and Automation https://doi.org/10.1109/ROBOT.1997.614295	conference	January 1997
Computing the distance between general convex objects in three-dimensional space Gilbert, E. G.; Foo, C. -P. IEEE Transactions on Robotics and Automation, Vol. 6, Issue 1 https://doi.org/10.1109/70.88117	journal	January 1990
OBBTree: a hierarchical structure for rapid interference detection Gottschalk, S.; Lin, M. C.; Manocha, D. Proceedings of the 23rd annual conference on Computer graphics and interactive techniques - SIGGRAPH '96 https://doi.org/10.1145/237170.237244	conference	January 1996
Efficient collision detection using fast distance-calculation algorithms for convex and non-convex objects Sato, Y.; Hirata, M.; Maruyama, T. Proceedings of IEEE International Conference on Robotics and Automation https://doi.org/10.1109/ROBOT.1996.503867	conference	January 1996

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