V-CLIP - Collision detection algorithm for polyhedral objects
The Voronoi Clip, or, V-Clip , algorithm is a
low-level collision detection algorithm for polyhedral objects. The
V-Clip library is a C++ implementation of this algorithm,
with facilities for constructing and manipulating geometries. The
source code is freely distributed for educational, research and
non-profit purposes. Permission to use the library in commercial
products may be obtained from MERL - A Mitsubishi Electric Research
Lab, 201 Broadway, Cambridge, MA 02139. The major design goals of V-Clip were robustness and
efficiency. The implementation works well even in the presence of
geometric degeneracies and contains no floating point tolerances for
the user to tune. It compares favorably to other algorithms from and
efficiency standpoint (see the tech report for details). In typical
applications V-Clip computes the closest points between
objects in almost constant time.
V-Clip operates on polyhedral objects which may be nonconvex
or even disconnected. It returns the closest points between objects
and the distances between them. If the objects penetrate, it returns
a penetration depth. V-Clip requires the application to specify nonconvex or
disconnected objects as hierarchies of convex pieces. When called on disjoint
nonconvex objects,V-Clip returns a lower bound on the actual distance
between the objects.
Download Files (local site)Merl's site for V-CLIP
Problem Links
This page last modified on 2008-07-10
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