Hierarchical spherical distance fields for collision detection
Christoph Fünfzig, Torsten Ullrich, Dieter W. Fellner · IEEE Computer Graphics and Applications · 2006
The problem of collision detection between objects is fundamental in many different communities including CAD, robotics, computer graphics, and computational geometry. This article presents a fast collision detection technique for all types of rigid bodies, demonstrated using polygon soups. We present two algorithms for computing a discrete spherical distance field of models. For compactly storing the distance field, we use a subsampling filter bank.