A benchmarking suite for 6-DOF real time collision response algorithms
René Weller, Mikel Sagardia, David Mainzer, Thomas Hulin, Gabriel Zachmann, Carsten Preusche · 2010
We present a benchmarking suite for rigid object collision detection and collision response schemes. The proposed benchmarking suite can evaluate both the performance as well as the quality of the collision response. The former is achieved by densely sampling the configuration space of a large number of highly detailed objects; the latter is achieved by a novel methodology that comprises a number of models for certain collision scenarios. With these models, we compare the force and torque signals both in direction and magnitude.