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Article: Determining the directional contact range of two convex polyhedra

TitleDetermining the directional contact range of two convex polyhedra
Authors
KeywordsConvex polyhedra
Directional contact range
Duality transformation
Penetrating distance
Separating distance
Signed distance
Issue Date2010
PublisherElsevier Ltd. The Journal's web site is located at http://www.elsevier.com/locate/cad
Citation
Cad Computer Aided Design, 2010, v. 42 n. 1, p. 27-35 How to Cite?
AbstractThe directional contact range of two convex polyhedra is the range of positions that one of the polyhedra may locate in along a given straight line so that the two polyhedra are in collision. Using the contact range, one can quickly classify the positions along a line for a polyhedron as "safe" for free of collision with another polyhedron, or "unsafe" otherwise. This kind of contact detection between two objects is important in CAD, computer graphics and robotics applications. In this paper we propose a robust and efficient computation scheme to determine the directional contact range of two polyhedra. We consider the problem in its dual equivalence by studying the Minkowski difference of the two polyhedra under a duality transformation. The algorithm requires the construction of only a subset of the faces of the Minkowski difference, and resolves the directional range efficiently. It also computes the contact configurations when the boundaries of the polyhedra are in contact. © 2008 Elsevier Ltd. All rights reserved.
Persistent Identifierhttp://hdl.handle.net/10722/60609
ISSN
2015 Impact Factor: 2.149
2015 SCImago Journal Rankings: 1.078
ISI Accession Number ID
References

 

DC FieldValueLanguage
dc.contributor.authorChoi, YKen_HK
dc.contributor.authorLi, Xen_HK
dc.contributor.authorRong, Fen_HK
dc.contributor.authorWang, Wen_HK
dc.contributor.authorCameron, Sen_HK
dc.date.accessioned2010-05-31T04:14:55Z-
dc.date.available2010-05-31T04:14:55Z-
dc.date.issued2010en_HK
dc.identifier.citationCad Computer Aided Design, 2010, v. 42 n. 1, p. 27-35en_HK
dc.identifier.issn0010-4485en_HK
dc.identifier.urihttp://hdl.handle.net/10722/60609-
dc.description.abstractThe directional contact range of two convex polyhedra is the range of positions that one of the polyhedra may locate in along a given straight line so that the two polyhedra are in collision. Using the contact range, one can quickly classify the positions along a line for a polyhedron as "safe" for free of collision with another polyhedron, or "unsafe" otherwise. This kind of contact detection between two objects is important in CAD, computer graphics and robotics applications. In this paper we propose a robust and efficient computation scheme to determine the directional contact range of two polyhedra. We consider the problem in its dual equivalence by studying the Minkowski difference of the two polyhedra under a duality transformation. The algorithm requires the construction of only a subset of the faces of the Minkowski difference, and resolves the directional range efficiently. It also computes the contact configurations when the boundaries of the polyhedra are in contact. © 2008 Elsevier Ltd. All rights reserved.en_HK
dc.languageengen_HK
dc.publisherElsevier Ltd. The Journal's web site is located at http://www.elsevier.com/locate/caden_HK
dc.relation.ispartofCAD Computer Aided Designen_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectConvex polyhedraen_HK
dc.subjectDirectional contact rangeen_HK
dc.subjectDuality transformationen_HK
dc.subjectPenetrating distanceen_HK
dc.subjectSeparating distanceen_HK
dc.subjectSigned distanceen_HK
dc.titleDetermining the directional contact range of two convex polyhedraen_HK
dc.typeArticleen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=0010-4485&volume=42&issue=1&spage=27&epage=35&date=2010&atitle=Determining+the+directional+contact+range+of+two+convex+polyhedra-
dc.identifier.emailChoi, YK:ykchoi@cs.hku.hken_HK
dc.identifier.emailWang, W:wenping@cs.hku.hken_HK
dc.identifier.authorityChoi, YK=rp00106en_HK
dc.identifier.authorityWang, W=rp00186en_HK
dc.description.naturepostprint-
dc.identifier.doi10.1016/j.cad.2008.11.010en_HK
dc.identifier.scopuseid_2-s2.0-71549155320en_HK
dc.identifier.hkuros177908en_HK
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-71549155320&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume42en_HK
dc.identifier.issue1en_HK
dc.identifier.spage27en_HK
dc.identifier.epage35en_HK
dc.identifier.eissn1879-2685-
dc.identifier.isiWOS:000273879800004-
dc.publisher.placeUnited Kingdomen_HK
dc.identifier.scopusauthoridChoi, YK=7404777348en_HK
dc.identifier.scopusauthoridLi, X=35233919300en_HK
dc.identifier.scopusauthoridRong, F=26423881600en_HK
dc.identifier.scopusauthoridWang, W=35147101600en_HK
dc.identifier.scopusauthoridCameron, S=7202227863en_HK

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