Collision Detection For Moving Polyhedra

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Authors: John Canny
Published in: IEEE Transactions On Pattern Analysis And Machine Intelligence
Year: 1986   
DOI: 10.1109/TPAMI.1986.4767773
Citations: 186
we consider the collision detection problem for a three dimensional solid object moving among polyhedral obstacles the configuration space for this problem is six dimensional , and the traditional representation of the space uses three translational parameters and three angles \( typically euler angles \) the constraints between the object and obstacles then involve trigonometric functions we show that a quaternion representation of rotation yields constraints which are purely algebraic in a seven dimensional space by simple manipulation , the constraints may be projected down into a six dimensional space with no increase in complexity the algebraic form of the constraints greatly simplifies computation of collision points , and allows us to derive an efficient exact intersection test for an object which is translating and rotating among obstacles
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