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A New Fast and Robust Collision Detection and Force Computation Algorithm Applied to the Physics Engine Bullet: Method, Integration, and Evaluation

Sagardia, Mikel and Stouraitis, Theodoros and Lopes e Silva, Joao (2014) A New Fast and Robust Collision Detection and Force Computation Algorithm Applied to the Physics Engine Bullet: Method, Integration, and Evaluation. In: Conference and Exhibition of the European Association of Virtual and Augmented Reality. Conference and Exhibition of the European Association of Virtual and Augmented Reality (2014), 08-10 Dec 2014, Bremen.

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Abstract

We present a collision detection and force computation algorithm based on the Voxelmap-Pointshell Algorithm which was integrated and evaluated in the physics engine Bullet. Our algorithm uses signed distance fields and point-sphere trees and it is able to compute collision forces between arbitrary complex shapes at simulation frequencies smaller than 1 msec. Utilizing phere hierarchies, we are able to rapidly detect likely colliding areas, while the point trees can be used for processing colliding egions in a level-of-detail manner. The integration into the physics engine Bullet was performed inheriting interface classes provided in that framework. We compared our algorithm with Bullet’s native GJK, GJK with convex decomposition, and GImpact, varying the resolution and the scenarios. Our experiments show that our integrated algorithm performs with similar computation times as the standard collision detection algorithms in Bullet if low resolutions are chosen. With high resolutions, our algorithm outperforms Bullet’s native implementations and objects behave realistically.

Item URL in elib:https://elib.dlr.de/102551/
Document Type:Conference or Workshop Item (Speech)
Title:A New Fast and Robust Collision Detection and Force Computation Algorithm Applied to the Physics Engine Bullet: Method, Integration, and Evaluation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sagardia, MikelMikel.Sagardia (at) dlr.deUNSPECIFIED
Stouraitis, Theodorostheodoros.stouraitis (at) dlr.deUNSPECIFIED
Lopes e Silva, Joaojpedro.e.silva (at) gmail.comUNSPECIFIED
Date:8 December 2014
Journal or Publication Title:Conference and Exhibition of the European Association of Virtual and Augmented Reality
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Computational Geometry and Object Modeling, Geometric algorithms, Object hierarchies, Three-Dimensional Graphics and Realism, Animation, Virtual reality, Haptics, Haptic Rendering
Event Title:Conference and Exhibition of the European Association of Virtual and Augmented Reality (2014)
Event Location:Bremen
Event Type:international Conference
Event Dates:08-10 Dec 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben On-Orbit Servicing - GNC und VR
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Sagardia, Mikel
Deposited On:08 Feb 2016 09:58
Last Modified:31 Jul 2019 19:59

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