Image-based Collision Detection and Response between Arbitrary Volumetric Objects

François Faure (1, 2) , Sébastien Barbier (1, 2) , Jérémie Allard (1) , Florent Falipou (1, 2)

1 LJK - Laboratoire Jean Kuntzmann
2 EVASION - Virtual environments for animation and image synthesis of natural objects

We present a new image-based method to process contacts between objects bounded by triangular surfaces. Unlike previous methods, it relies on image-based volume minimization, which eliminates complex geometrical computa- tions and robustly handles deep intersections. The surfaces are rasterized in three orthogonal directions, and intersections are detected based on pixel depth and normal orientation. Per-pixel contact forces are computed and accumulated at the vertices. We show how to compute pressure forces which serve to minimize the intersection volume, as well as friction forces. No geometrical precomputation is required, which makes the method efficient for both deformable and rigid ob- jects. We demonstrate it on rigid, skinned, and particle-based physical models with detailed surfaces in contacts at interactive frame rates.

Keywords: collision detection; collision response; physical simulation; deformable objects

Domains: Graphics [cs.GR]

François Faure, Sébastien Barbier, Jérémie Allard, Florent Falipou. Image-based Collision Detection and Response between Arbitrary Volumetric Objects. ACM SIGGRAPH/Eurographics Symposium on Computer Animation, 2008, Dublin, Ireland. ⟨inria-00319399v1⟩