Interactive collision detection for complex and deformable models using programmable graphics hardware

Abstract

In this paper we present an interactive collision detection algorithm for complex and deformable objects. For two target models, our approach rapidly calculates their region of interests (ROI), which is the overlapping of their axis aligned bounding boxes (AABBs), in CPU. The surfaces of both models inside the ROI are then voxelized using a novel GPU-based real-time voxelization method. The resultant volumes are represented by two 2D textures in video memory. The collision query is efficiently accomplished by comparing these 2D textures in GPU. The algorithm is robust to handle arbitrary shapes, no matter geometric models are convex or concave, closed or open, rigid or deformable. Our preliminary implementation achieves interactive frame rate for complex models with up to one million triangles on commodity desktop PCs.

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“…This was necessary in order to implement the selective disassembly planning theory properly. In the past decades, multi-LoD for information models (Abualdenien and Borrmann, 2019;Liu et al, 2019) as well as object-space collision detection (Alrufaifi et al, 2019;Chen et al, 2004) has been well studied, concluding that the efficiency of the computational resources required for development decreases dramatically with highly complex geometry models. Further investigations about the impact of multi-LoD for disassembly models are necessary to determine the specific characteristics for particular disassembly planning tasks.…”

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“…Several different methods had been proposed to address the problem of collision. Some survey had been done in the literature [41][42][43] Bounding-volume hierarchies are the most popular used for collision detection and different types of trees such as axis-aligned bounding boxes [44][45][46][47][48][49] and discrete orientation polytope (k-DOP) 10,[50][51][52][53] are discussed in the study by Teschner et al 42 Design and simulate. The simple cloth design and simulation process consists in several phases are depicted as shown in Figure 4.…”

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“…volumes, which are computationally more costly, but simpler volumes whose overlapping is cheaper to test for are clearly preferred, like Axis-Aligned Bounding Boxes (AABB) [45][46][47][48][49]. The key point lies in deriving an efficient updating procedure.…”