GPU Proximity Queries with Swept Sphere Volumes COMP 790-058 Robotics Project Proposal Qi Mo.

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GPU Proximity Queries with Swept Sphere Volumes COMP Robotics Project Proposal Qi Mo

Proximity Query Collision detection, Separation distance computation, Approximate distance, etc. Bounding volume hierarchies (BVHs) Spheres, AABBs, OBBs, etc. Tightness of fit Vs cost of BV pair operation

Swept Sphere Volumes (SSVs) PSS LSS RSS

Prior Work 1. Fast Proximity Queries with Swept Sphere Volumes, Eric Larsen, Stefan Gottschalk, Ming C. Lin, Dinesh Manocha, Proceedings of International Conference on Robotics and Automation, pp , April Fast BVH Construction on GPUs, Christian Lauterbach, Michael Garland, Shubhabrata Sengupta, David Luebke, Dinesh Manocha, In submission RT-DEFORM: Interactive Ray Tracing of Dynamic Scenes Using BVHs, Christian Lauterbach, Sung-Eui Yoon, David Tuft, DInesh Manocha, Proceedings of IEEE Symposium on Interactive Ray Tracing, 2006

Project Summary Extend current GPU collision detection framework – from AABBs to SSVs – from collision detection to distance computation

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