Automatic generation of sphere hierarchies from CAD data
Joe Pitt‐Francis, R. Feathertone · 2002
A sphere hierarchy is a data structure that approximates the shape of a given object using a collection of spheres. They can be used for collision detection, motion planning and other related applications. This paper presents an algorithm for constructing an efficient sphere hierarchy from a geometric model of an object, as supplied by a CAD system or geometric modeller and it presents a branching factor analysis based on a general measure of the efficiency of a sphere hierarchy.