Wrapped Bounding Sphere Hierarchy for Necklaces Fixed hierarchical structure SOCG 2002.

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Presentation transcript:

Wrapped Bounding Sphere Hierarchy for Necklaces Fixed hierarchical structure SOCG 2002

WBSH and Motion WBSH has a combinatorial description Each node is defined by O(1) leaf spheres WBSH’s description changes discretely Cascade verification at each time step Reparing WBSH if verification fails

Wrapped BSH is Stable before deformationafter deformation Number of combinatorial changes in BSH under motion is small

Self Collision Detection using Wrapped Bounding Sphere Hierarchy Subquadratic optimal time bound O( ) in O( ), in, Separating pairs Sphere packing

Spanner for Deformable Chain Capture proximity information with a sparse spanner 3HVT

The End

Wrapped BSH is Tight… The wrapped hierarchy is at most times tighter than the layered hierarchy. Layered hierarchyWrapped hierarchy

Collision Detection using Power Diagram (PD) PD captures proximity info of a necklace PD can be maintained using KDS framework PD has small size when necklace is packed