Boundary of the volume swept by a free-form solid in screw motion

The swept volume of a moving solid is a powerful computational and visualization concept. It provides an excellent aid for path and accessibility planning in robotics and for simulating various manufacturing operations. It has proven difficult to evaluate the boundary of the volume swept by a solid bounded by trimmed parametric surfaces undergoing an arbitrary analytic motion. Hence prior solutions use one or several of the following simplifications: (1) approximate the volume by the union of a finite set of solid instances sampled along the motion; (2) approximate the curved solid by a polyhedron, (3) approximate the motion by a sequence of simpler motions. The approach proposed here is based on the third type of simplification: it uses a polyscrew (continuous, piecewise-screw) approximation of the motion. This approach leads to a simple algorithm that generates candidate faces, computes the two-cells of their arrangement, and uses a new point-in-sweep test to select the correct cells whose union forms the boundary of the swept volume.