Supported by Westinghouse Savannah River Company through ERDA

Supported by a DOE Predoctoral Fellowship in Integrated Manufacturing (John Hogan).

The algorithm developed provides an easily implemented, general collision detection algorithm for three-dimensional convex polyhedra. Two simple rules are used to test for collisions between pairs of objects. The rules examine relationships between vertices, edges, and faces to determine whether a collision has occurred or not. With the use of bounding spheres for initial approximations, useful performance is achieved. The algorithm provides a useful foundation for collision detection in many applications. |