Computation of a penetration measure between 3D convex polyhedral objects for collision detection

Abstract

Abstract Measures to characterize the penetration between a pair of intersecting objects are given, based on translating one object to separate from the other. Algorithms to compute a measure between convex polyhedral objects in ℜ 3 are presented for two different input representations. These algorithms have linear expected running time. Details of experiments in collision detection for 3D objects using the penetration measure are also presented. © 2001 John Wiley & Sons, Inc.