Collision Detection

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Hierarchical Uniform Grid - Principle During insertion report all ID pairs within each cellwhich are either “bold” x “regular” or “bold” x“bold” IDs Cell (AB) has only one pair: A-B Cell (DEF) has pairs: D-F and E-F (D-E is not a pair !)ABCDEF0ABCDDEFF1A ABCD DE2BBCs 0s 3CE3C C EA B C DE F
Hierarchical Uniform Grid - Methods AddBox(A) Calculate AABB(A), resolution r = Res(A), add box into all grids(0 to r), report pair (A-A k) only if grid resolution isMin(Res(A), Res(A k)) RemoveBox Calculate AABB(A), resolution r = Res(A), remove box from allgrids (0 to r), remove pair (A-A k) only if grid resolution isMin(Res(A), Res(A k)) UpdateBox Since objects ID are stored only in grids with equal or largerresolutions as Res(A) – no need for optimizing update –simply RemoveBox than AddBox every modified object
Page 1 and 2: Juraj Onderik | onderik@sccg.skBroa
Page 3 and 4: Collision Detection Overview Collis
Page 5 and 6: Mid Phase Mid (refinement) collisio
Page 7 and 8: Collision Detection Phases Broad Ph
Page 9 and 10: Collision Detection Phases Broad Ph
Page 11 and 12: Uniform Grid - Principle Define a u
Page 13 and 14: Uniform Grid - Principle Insert obj
Page 15 and 16: Uniform Grid - AddBox We want to ad
Page 17 and 18: Uniform Grid - UpdateBox Object has
Page 19 and 20: Hierarchical Uniform Grid Suppose 4
Page 21 and 22: Hierarchical Uniform Grid - Princip
Page 23 and 24: Hierarchical Uniform Grid - Princip
Page 25: Hierarchical Uniform Grid - Princip
Page 29 and 30: Spatial Hashing Motivation: large g
Page 31 and 32: Sweep-And-Prune (SAP) Broad phase c
Page 33 and 34: Separating Axis Theorem Two convex
Page 35 and 36: SAP - Algorithm Principle Suppose a
Page 37 and 38: SAP - Algorithm Principle Project A
Page 39 and 40: SAP - Algorithm Principle Sort list
Page 41 and 42: SAP - Algorithm Principle Sweep X-l
Page 43 and 44: SAP - Algorithm Principle Do the sa
Page 45 and 46: SAP - Summary To achieve linear tim
Page 47 and 48: SAP - Incremental Update Reported p
Page 49 and 50: SAP - Incremental Update Limit swap
Page 51 and 52: Pair Management An ID pair is defin
Page 53 and 54: Efficient Pair Management In hash t
Page 55 and 56: Demos / tools / libs Free Open Sour

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