collision detection in VREP

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scut_whg
Posts: 6
Joined: 21 Oct 2019, 08:24

collision detection in VREP

Post by scut_whg » 12 Nov 2019, 04:25

What is the principle of collision detection in VREP? Or how is the state validity check in VREP implemented?

coppelia
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Posts: 7450
Joined: 14 Dec 2012, 00:25

Re: collision detection in VREP

Post by coppelia » 13 Nov 2019, 16:55

Hello,

CoppeliaSim/V-REP uses its own collision checking routines, based on a hierarchy of object-oriented bounding boxes, that wrap triangles composing the mesh. Detection is triangle-triangle exact. Same for the minimum distance calculation.

Cheers

scut_whg
Posts: 6
Joined: 21 Oct 2019, 08:24

Re: collision detection in VREP

Post by scut_whg » 14 Nov 2019, 09:40

coppelia wrote:
13 Nov 2019, 16:55
Hello,

CoppeliaSim/V-REP uses its own collision checking routines, based on a hierarchy of object-oriented bounding boxes, that wrap triangles composing the mesh. Detection is triangle-triangle exact. Same for the minimum distance calculation.

Cheers
Special thanks to your answer! It is a little difficult for me to simply look at the source code. Does the source code of this collision detection have relevant theoretical literature support? Where can I read it? This will help me understand.

coppelia
Site Admin
Posts: 7450
Joined: 14 Dec 2012, 00:25

Re: collision detection in VREP

Post by coppelia » 14 Nov 2019, 09:48

you can find more infos in this paper:

Freese, M., Ozaki, F., Matsuhira, N.: Collision detection, distance calculation and
proximity sensor simulation using oriented bounding box trees. In: 4th International
Conference on Advanced Mechatronics. pp. 13–18. Asahikawa, Japan (October 2004)

Cheers

scut_whg
Posts: 6
Joined: 21 Oct 2019, 08:24

Re: collision detection in VREP

Post by scut_whg » 14 Nov 2019, 11:10

coppelia wrote:
14 Nov 2019, 09:48
you can find more infos in this paper:

Freese, M., Ozaki, F., Matsuhira, N.: Collision detection, distance calculation and
proximity sensor simulation using oriented bounding box trees. In: 4th International
Conference on Advanced Mechatronics. pp. 13–18. Asahikawa, Japan (October 2004)

Cheers
Sorry, I can't download this article. Do you have it? If there is, my email address is: 279655395@qq.com. Greatful! !

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