Critique for CS 448B: Topics in Modeling The Voronoi-clip Collision Detection Algorithm

This paper presents the Voronoi-clip (V-clip) algorithm for polyhedral collision detection. The method is similar to that of the Lin-Canny algorithm [1] in that it tracks the closest pair of features between two polyhedra. However, the V-clip method offers superior robustness, requires less complex code, can better handle penetrating polyhedra, and is more useful for collision detection between non-convex polyhedra than the Lin-Canny method. The paper first gives an introduction to the most common algorithms used for collision detection. It then presents the theoretical background for the V-clip method, followed by the algorithm itself, presented in pseudocode. Finally, the V-clip algorithm is compared to two other commonly used collision detection algorithms in several different performance tests. The V-clip algorithm performs remarkably well in comparison to the other methods.