274
Views
148
CrossRef citations to date
0
Altmetric
Original Articles

A Fast and Robust GJK Implementation for Collision Detection of Convex Objects

Pages 7-25 | Published online: 06 Apr 2012

References

  • Barber , C. B. , Dobkin , D. P. and Huhdanpaa , H. 1996 . “The Quickhull algorithm for convex hull.” . ACM Transactions on Mathematical Software , 22 : 469 – 483 . [Barber et al. 96]
  • Bell , G. , Carey , R. and Marrin , C. 1997 . VRML97: The Virtual Reality Modeling Language [Bell et al. 97], http://www.vrml.org/Specifications/VRML97
  • Cameron , S. “Enhancing GJK: Computing minimum and penetration distances between convex polyhedra.” . Proc. IEEE Int. Conf. on Robotics and Automation . pp. 3112 – 3117 . Los Alamitos : IEEE Computer Society. . [Cameron 97]
  • Cameron , S. A. and Culley , R. K. “Determining the minimum translational distance between convex polyhedra.” . Proc. IEEE Int. Conf. on Robotics and Automation . pp. 591 – 596 . Los Alamitos : IEEE Computer Society. . [Cameron, Culley 86]
  • Chung , K. and Wang , W. “Quick collision detection of polytopes in virtual environments.” . Proc. ACM Symposium on Virtual Reality Software and Technology . pp. 125 – 131 . New York : ACM SIGGRAPH. . [Chung, Wang 96]
  • Cohen , J. , Lin , M. C. , Manocha , D. , Mirtich , B. , Ponamgi , M. K. and Canny , J. 1996 . I-COLLIDE: Interactive and exact collision detection library [Cohen et al. 96], http://www.es.unc.edu/~geom/I_COLLIDE.html, software library
  • Cohen , J. D. , Lin , M. C. , Manocha , D. and Ponamgi , M. K. “I-COLLIDE: An interactive and exact collision detection system for large-scale environments.” . Proc. ACM Symposium on Interactive 3D Graphics . pp. 189 – 196 . New York : ACM SIGGRAPH. . [Cohen et al. 95]
  • Gilbert , E. G. and Foo , C.-P. 1990 . “Computing the distance between general convex objects in three-dimensional space.” . IEEE Transactions on Robotics and Automation , 6 ( 1 ) : 53 – 61 . [Gilbert, Foo 90]
  • Gilbert , E. G. , Johnson , D. W. and Keerthi , S. S. 1988 . “A fast procedure for computing the distance between complex objects in three-dimensional space.” . IEEE Journal of Robotics and Automation , 4 ( 2 ) : 193 – 203 . [Gilbert et al. 88]
  • Lin , M. C. and Canny , J. F. “A fast algorithm for incremental distance computation.” . Proc. IEEE Int. Conf. on Robotics and Automation . pp. 1008 – 1014 . Los Alamitos : IEEE Computer Society. . [Lin, Canny 91]
  • Nagle , J. Apr. 1998 . GJK collision detection algorithm wanted, posted on the comp. graphics, algorithms newsgroup Apr. , [Nagle 98]
  • Ong , C. J. and Gilbert , E. G. “The Gilbert-Johnson-Keerthi distance algorithm: A fast version for incremental motions.” . Proc. IEEE Int. Conf. on Robotics and Automation . pp. 1183 – 1189 . Los Alamitos : IEEE Computer Society. . [Ong, Gilbert 97]
  • Rabbitz , R. 1994 . “ Fast collision detection of moving convex polyhedra ” . In Graphics Gems IV Edited by: Heckbert , P. 83 – 109 . Boston : Academic Press. . [Rabbitz 94]

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.