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Continuous Collision Detection of General Convex Objects Under Translation
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Continuous Collision Detection of General Convex Objects Under Translation,
3915

Programming, Lecture

Gino van den Bergen
Game Physicist, Playlogic Game Factory
This lecture discusses an approach for performing continuous collision detection of general convex objects. Here, the trajectories of the objects are limited to translations and are constructed by linear interpolation of object positions at discrete times. Thus, linear velocities are assumed to be constant between time steps. Orientation changes are not interpolated. Objects may change orientation, but only at discrete times.

The approach uses two phases. The broad phase detects all pairs of objects whose swept axis-aligned bounding boxes overlap over one time step. The narrow phase then tests pairs of objects for collision and, in case of a hit, returns the time of contact as well as the contact point and normal.

The narrow phase is based on the Gilbert-Johnson-Keerthi algorithm (GJK) and is applicable to the same family of convex shape types as GJK. This family of shape types includes common shape primitives, such as boxes, spheres, cones, cylinders, as well as shapes derived from these primitives by affine transformation, Minkowski addition, and convex hulls.

The attendee learns two novel algorithms that together form an approach for performing continuous collision detection of general convex objects in real-time. As a preliminary, the GJK algorithm and sweep-and-prune algorithm are also discussed briefly.

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