Collision Detection of Convex Polyhedra Based on Duality Transformation
نویسندگان
چکیده
Collision detection is an essential problem in many applications in computer graphics, CAD/CAM, and robotics. In this paper, a new method, called CD-Dual, for detecting collision between two convex polyhedra is proposed. The idea is based on a local search among the faces on the Minkowski difference (M) of the polyhedra. The local search is guided by a simple signed distance function defined on the dual polyhedron of M . Due to the convexity of the dual polyhedron, it is guaranteed that the result of the local search will lead to a vertex on the dual polyhedron that attains the global maximum signed distance, and this distance tells whether the two polyhedra overlap.
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