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Steven Skiena
Stony Brook University
Dept. of Computer Science

Efi Fogel's Minkowski Sums and Collision Detection Software


Given two convex polygons with m and n vertices respectively, it was shown that detecting collision and computing directional penetration depth can be done in optimal time O(log m + log n) [GS88], and that the (absolute) penetration depth can be computed in O(log(m + n)) time using the Minkowski sum computed a priori [DHK93]. It is well known that the Minkowski sum in this case consists of m + n edges when there are no degeneracies, and can be computed in linear time simply by merging the edges in slope order.


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    Minkowski Sum (8)



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