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collision detection in VREP
Posted: 12 Nov 2019, 04:25
by scut_whg
What is the principle of collision detection in VREP? Or how is the state validity check in VREP implemented?
Re: collision detection in VREP
Posted: 13 Nov 2019, 16:55
by coppelia
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
Re: collision detection in VREP
Posted: 14 Nov 2019, 09:40
by scut_whg
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.
Re: collision detection in VREP
Posted: 14 Nov 2019, 09:48
by coppelia
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
Re: collision detection in VREP
Posted: 14 Nov 2019, 11:10
by scut_whg
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! !
Re: collision detection in VREP
Posted: 21 Apr 2020, 05:43
by tjwhenderson
I'm also trying to access this paper and am unable to. My email is
tjwest@ucsd.edu if you are able to send it to me!