Real-time visualisation of densely populated urban environments: a simple and fast algorithm for collision detection
Franco Tecchia, Yiorgos Chrysanthou · UCL Discovery (University College London) · 2000
In this paper we present a fast collision detection method with an application to a densely populated urban environment. The method uses graphics rasterization hardware to discritise the environment and to create a look-up table with heights which can be used not only for preventing the humans from walking through buildings but also for determining and adjusting their elevation on the model without having to query the geometrical database.