Closest Point Query among the Union of Convex Polytopes Using Rasterization Hardware
Young J. Kim, Kenneth E. Hoff, Ming G. Lin, Dinesh Manocha · Journal of Graphics Tools · 2002
We present a novel approach using rasterization hardware to perform the following query: Given a collection of convex polytopes in 3D, find the closest point from some given point inside the polytopes to the surface of the union of the polytopes. The algorithm takes advantage of multipass rendering, clipping, and depth tests. We also demonstrate its application to penetration depth computation.