research-article

Fast continuous collision detection using parallel filter in subspace

Authors:

Guopin WangAuthors Info & Claims

I3D '11: Symposium on Interactive 3D Graphics and Games

Pages 71 - 80

https://doi.org/10.1145/1944745.1944757

Published: 18 February 2011 Publication History

Abstract

In this paper, we present a novel fast Continuous Collision Detection (CCD) method using SIMD capacity of CPU and idea of dimension reduction. We apply a parallel linear filter culling performed in one-dimensional subspace followed by a parallel planar filter culling performed in two-dimensional subspace before each elementary test, which simultaneously and conservatively tests the relative motion of each primitive pairs in various selected subspace. CPU's SIMD capacity is utilized for parallelizing the projection and filtering process in each subspace. Parallel filter culling in subspace removes a large amount of redundant elementary tests with low cost, and improves the overall performance of collision query. We demonstrate the advantages of our approach when comparing with previous alternatives in various dynamic scenes as benchmarks. In experiments, we observe up to 99% removal of false positives, and a huge magnitude of speed improvement on elementary tests (over 3x). Since our method only correlates the elementary test, it is scalable and can be easily integrated with various available single or multicore CPU based CCD algorithm. In addition, the performance of our method is less sensitive to varying step time.

References

[1]

Abdel-Malek, K., Yang, J., Blackmore, D., and Joy, K. 2006. Swept volumes: fundation, perspectives, and applications. International Journal of Shape Modeling 12, 1, 87.

[2]

Agarwal, P., Basch, J., Guibas, L., Hershberger, J., and Zhang, L. 2001. Deformable Free Space Tilings for Kinetic Collision Detection. In Workshop on Algorithmic Foundations of Robotics, AK Peters, Ltd., 83--96.

[3]

Barbič, J., and James, D. 2005. Real-time subspace integration for St. Venant-Kirchhoff deformable models. ACM Transactions on Graphics (TOG) 24, 3, 990.

Digital Library

[4]

Barbič, J., da Silva, M., and Popović, J. 2009. Deformable object animation using reduced optimal control. ACM Transactions on Graphics (TOG) 28, 3, 53.

Digital Library

[5]

Barbič, J., and James, D. L. 2010. Subspace self-collision culling. ACM Trans. on Graphics (SIGGRAPH 2010) 29, 3.

Digital Library

[6]

Bridson, R., Fedkiw, R., and Anderson, J. 2002. Robust treatment of collisions, contact and friction for cloth animation. In Proceedings of the 29th annual conference on Computer graphics and interactive techniques, ACM, 594--603.

Digital Library

[7]

Canny, J. 1984. Collision detection for moving polyhedra. Pattern Analysis and Machine Intelligence 8, 200--209.

Digital Library

[8]

Curtis, S., Tamstorf, R., and Manocha, D. 2008. Fast collision detection for deformable models using representative-triangles. In Proceedings of the 2008 symposium on Interactive 3D graphics and games, ACM, 61--69.

Digital Library

[9]

Govindaraju, N., Knott, D., Jain, N., Kabul, I., Tamstorf, R., Gayle, R., Lin, M., and Manocha, D. 2005. Interactive collision detection between deformable models using chromatic decomposition. ACM Transactions on Graphics (Proc. of ACM SIGGRAPH) 24, 3, 991--999.

Digital Library

[10]

Grinspun, E., and Schroder, P. 2001. Normal bounds for subdivision-surface interference detection. In IEEE Visualization'01, IEEE Computer Society, 333--340.

Digital Library

[11]

Hutter, M., and Fuhrmann, A. 2007. Optimized continuous collision detection for deformable triangle meshes. Proc. WSCG07, 25--32.

[12]

Kim, B., and Rossignac, J. 2003. Collision prediction for polyhedra under screw motions. In Proceedings of the eighth ACM symposium on Solid modeling and applications, ACM, 10.

Digital Library

[13]

Kim, D., Guibas, L., and Shin, S. 1998. Fast Collision Detection Among Multiple Moving Spheres. IEEE Trans. Vis. Comput. Graph, 230--242.

Digital Library

[14]

Kim, D., Heo, J., Huh, J., Kim, J., and Yoon, S. 2009. HPCCD: Hybrid Parallel Continuous Collision Detection using CPUs and GPUs. In Computer Graphics Forum, vol. 28, John Wiley & Sons, 1791--1800.

[15]

Kirkpatrick, D., Snoeyink, J., and Speckmann, B. 2000. Kinetic collision detection for simple polygons. In Proceedings of ACM symposium on Computational geometry, ACM, 322--330.

Digital Library

[16]

Lauterbach, C., Mo, Q., and Manocha, D. 2010. gProximity: Hierarchical GPU-based Operations for Collision and Distance Queries. In Proc. of Eurographics, to appear.

[17]

Lin, M., and Canny, J. 1993. Efficient collision detection for animation and robotics. University of California, Berkeley.

[18]

Mirtich, B. 1996. Impulse-based dynamic simulation of rigid body systems. PhD thesis, Citeseer.

Digital Library

[19]

Provot, X. 1997. Collision and self-collision handling in cloth model dedicated to design garments. In Graphics interface, vol. 97, Citeseer, 177--189.

[20]

Redon, S., Kheddar, A., and Coquillart, S. An Algebraic Solution to the Problem of Collision Detection for Rigid Polyhedral Objects.

[21]

Redon, S., Kheddar, A., and Coquillart, S. 2002. Fast continuous collision detection between rigid bodies. In Computer graphics forum, vol. 21, Citeseer, 279--288.

[22]

Schvartzman, S., Gascón, J., and Otaduy, M. 2009. Bounded normal trees for reduced deformations of triangulated surfaces. In Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, ACM, 75--82.

Digital Library

[23]

Schvartzman, S., Pérez, A., and OTADUY, M. 2010. StarContours for Efficient Hierarchical Self-Collision Detection. In ACM Trans. on Graphics (Proc. of ACM SIGGRAPH), vol. 29.

Digital Library

[24]

Sud, A., Govindaraju, N., Gayle, R., Kabul, I., and Manocha, D. 2006. Fast proximity computation among deformable models using discrete voronoi diagrams. ACM Transactions on Graphics (Proc. of ACM SIGGRAPH) 25, 3, 1153.

Digital Library

[25]

Tang, M., Curtis, S., Yoon, S., and Manocha, D. 2009. ICCD: Interactive continuous collision detection between deformable models using connectivity-based culling. IEEE Transactions on Visualization and Computer Graphics 15, 544--557.

Digital Library

[26]

Tang, M., Kim, Y., and Manocha, D. 2009. C2a: Controlled conservative advancement for continuous collision detection of polygonal models. In Proceedings of International Conference on Robotics and Automation, 849--854.

Digital Library

[27]

Tang, M., Manocha, D., and Tong, R. 2009. Multicore collision detection between deformable models. In 2009 SIAM/ACM Joint Conference on Geometric and Physical Modeling, ACM, 355--360.

Digital Library

[28]

Tang, M., Manocha, D., and Tong, R. 2010. Fast continuous collision detection using deforming non-penetration filters. In Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games, ACM, 7--13.

Digital Library

[29]

Treuille, A., Lewis, A., and Popović, Z. 2006. Model reduction for real-time fluids. ACM Transactions on Graphics (TOG) 25, 3, 834.

Digital Library

[30]

Volino, P., and Thalmann, N. 1994. Efficient self-collision detection on smoothly discretized surface animations using geometrical shape regularity. In Computer Graphics Forum, vol. 13, Amsterdam: North Holland, 1982-, 155--166.

[31]

Zhang, X., Lee, M., and Kim, Y. 2006. Interactive continuous collision detection for non-convex polyhedra. The Visual Computer 22, 9, 749--760.

Digital Library

[32]

Zhang, X., Redon, S., Lee, M., and Kim, Y. 2007. Continuous collision detection for articulated models using taylor models and temporal culling. In ACM Trans. Graph. (ACM SIGGRAPH 2007), ACM, vol. 26.

Digital Library

Cited By

Wong SCheng Y(2016)GPU-based radial view-based culling for continuous self-collision detection of deformable surfacesThe Visual Computer: International Journal of Computer Graphics10.5555/2893030.289307032:1(67-81)Online publication date: 1-Jan-2016
https://dl.acm.org/doi/10.5555/2893030.2893070
Zhang XLiu Y(2015)An algebraic non-penetration filter for continuous collision detection using Sturm Theorem2015 IEEE International Conference on Mechatronics and Automation (ICMA)10.1109/ICMA.2015.7237581(761-766)Online publication date: Aug-2015
https://doi.org/10.1109/ICMA.2015.7237581
Zhang XLiu Y(2015)A Simple Filtering Algorithm for Continuous Collision Detection Using Taylor Models2015 14th International Conference on Computer-Aided Design and Computer Graphics (CAD/Graphics)10.1109/CADGRAPHICS.2015.32(1-7)Online publication date: Aug-2015
https://doi.org/10.1109/CADGRAPHICS.2015.32
Show More Cited By

Index Terms

Fast continuous collision detection using parallel filter in subspace
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
  2. Computer graphics
    1. Image manipulation
    2. Shape modeling
2. Theory of computation
  1. Randomness, geometry and discrete structures
    1. Computational geometry

Recommendations

Reduced deforming filter culling for fast continuous collision detection
VRST '10: Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology

We propose a novel efficient deforming filter culling method for continuous collision detection (CCD) problem performed by dimension reduction in subspace. We present a fast linear filter (1D reduced filter) considering relative motion between ...
A cluster for CS education in the manycore era
SIGCSE '11: Proceedings of the 42nd ACM technical symposium on Computer science education

Traditional Beowulf clusters have been homogeneous platforms for distributed-memory MIMD parallelism. However, the shift to multicore architectures has made shared-memory MIMD parallelism increasingly important, and inexpensive manycore GPGPUs have ...
Feature extraction using constrained maximum variance mapping

In this paper, an efficient feature extraction method named as constrained maximum variance mapping (CMVM) is developed. The proposed algorithm can be viewed as a linear approximation of multi-manifolds learning based approach, which takes the local ...

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

I3D '11: Symposium on Interactive 3D Graphics and Games

February 2011

207 pages

ISBN:9781450305655

DOI:10.1145/1944745

General Chairs:
Michael Garland
NVIDIA Research
,
Rui Wang
University of Massachusetts

Copyright © 2011 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Sponsors

SIGGRAPH: ACM Special Interest Group on Computer Graphics and Interactive Techniques

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 18 February 2011

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article

Funding Sources

Conference

I3D '11

Sponsor:

SIGGRAPH

I3D '11: Symposium on Interactive 3D Graphics and Games

February 18 - 20, 2011

California, San Francisco

Acceptance Rates

I3D '11 Paper Acceptance Rate 24 of 64 submissions, 38%;

Overall Acceptance Rate 148 of 485 submissions, 31%

Upcoming Conference

I3D '25

Sponsor:
siggraph

Symposium on Interactive 3D Graphics and Games

May 7 - 9, 2025

Jersey City , NJ , USA

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

17
Total Citations
View Citations
514
Total Downloads

Downloads (Last 12 months)6
Downloads (Last 6 weeks)1

Reflects downloads up to 08 Mar 2025

Other Metrics

View Author Metrics

Citations

Cited By

Wong SCheng Y(2016)GPU-based radial view-based culling for continuous self-collision detection of deformable surfacesThe Visual Computer: International Journal of Computer Graphics10.5555/2893030.289307032:1(67-81)Online publication date: 1-Jan-2016
https://dl.acm.org/doi/10.5555/2893030.2893070
Zhang XLiu Y(2015)An algebraic non-penetration filter for continuous collision detection using Sturm Theorem2015 IEEE International Conference on Mechatronics and Automation (ICMA)10.1109/ICMA.2015.7237581(761-766)Online publication date: Aug-2015
https://doi.org/10.1109/ICMA.2015.7237581
Zhang XLiu Y(2015)A Simple Filtering Algorithm for Continuous Collision Detection Using Taylor Models2015 14th International Conference on Computer-Aided Design and Computer Graphics (CAD/Graphics)10.1109/CADGRAPHICS.2015.32(1-7)Online publication date: Aug-2015
https://doi.org/10.1109/CADGRAPHICS.2015.32
Du PZhao JPan WWang Y(2015)GPU Accelerated Real-Time Collision Handling in Virtual DisassemblyJournal of Computer Science and Technology10.1007/s11390-015-1541-230:3(511-518)Online publication date: 1-May-2015
https://doi.org/10.1007/s11390-015-1541-2
Wong SBaciu G(2015)Continuous collision detection for deformable objects using permissible clustersThe Visual Computer: International Journal of Computer Graphics10.1007/s00371-014-0933-631:4(377-389)Online publication date: 1-Apr-2015
https://dl.acm.org/doi/10.1007/s00371-014-0933-6
Baciu GWong W(2014)From fiber to fabricSIGGRAPH Asia 2014 Autonomous Virtual Humans and Social Robot for Telepresence10.1145/2668956.2668959(1-11)Online publication date: 24-Nov-2014
https://dl.acm.org/doi/10.1145/2668956.2668959
Wong SLin WWang YHung CHuang YKeyser JSander P(2014)Dynamic radial view based culling for continuous self-collision detectionProceedings of the 18th meeting of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games10.1145/2556700.2556707(39-46)Online publication date: 14-Mar-2014
https://dl.acm.org/doi/10.1145/2556700.2556707
Wong SCheng Y(2014)Continuous Self-Collision Detection for Deformable Surfaces Interacting with Solid ModelsComputer Graphics Forum10.1111/cgf.1228433:6(143-153)Online publication date: 1-Sep-2014
https://dl.acm.org/doi/10.1111/cgf.12284
Wong SCheng Y(2014)GPU-based radial view-based culling for continuous self-collision detection of deformable surfacesThe Visual Computer10.1007/s00371-014-1056-932:1(67-81)Online publication date: 16-Dec-2014
https://doi.org/10.1007/s00371-014-1056-9
Arapakis ILalmas MCambazoglu BMarcos MJose J(2014)User engagement in online NewsJournal of the Association for Information Science and Technology10.1002/asi.2309665:10(1988-2005)Online publication date: 1-Oct-2014
https://dl.acm.org/doi/10.1002/asi.23096
Show More Cited By

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Figures

Tables

Media

View Table of Conten