Collision Detection Optimization

By:

IskandarNg Eng Guan

Optimization Approaches Bounding Volume:

◦ Sphere

◦ Box (AABB, OBB)

◦ K-DOP (Discrete Orientation Polytope)

◦ Convex Hull

Spatial Partitioning:

◦ Octree (1->81->82->83->8n leaves)

◦ BSP tree (1->21->22->23->2n leaves)

◦ Hash Function 1 2 3( ) /p X p Y p Z n

Bounding Volume

Collision when:

d < r1+r2

Sphere1. Bounding

Sphere2. Sphere

IntersectionAABB

Spatial Partitioning Octree

Represent the 3D volume with a cube.

Subdivide cube by half in each direction: We get 8 sub-cubes.

Repeatedly subdivide each sub-cube the same way.

ConclusionDesign Factor:

◦ Geometry representation Bounding Volume Simplification

◦ Type of queries

◦ Simulation parameter Rigid, # objects, Interpenetrate

◦ Ease of implementation Ensure deliverable project