Abstract
We present parallel algorithms to accelerate collision tests of rigid body objects for a high number of independent transformations as they occur in sampling-based motion planning and path validation problems. We compare various GPU approaches with a different level of parallelism against each other and against a parallel CPU implementation. Our algorithms require no sophisticated load balancing schemes. They make no assumption on the distribution of the input transformations and require no pre-processing. Yet, we can perform up to 1 million collision tests per second with our best GPU implementation in our benchmarks. This is about 2.5X faster than our reference multi-core CPU implementation and more than 18X faster than current single-core implementations.
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Erbes, R., Mantel, A., Schömer, E., Wolpert, N. (2013). Parallel Collision Queries on the GPU. In: Keller, R., Kramer, D., Weiss, JP. (eds) Facing the Multicore-Challenge III. Lecture Notes in Computer Science, vol 7686. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-35893-7_8
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DOI: https://doi.org/10.1007/978-3-642-35893-7_8
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