This book features a novel geometric data structure for collision detection at haptic rates between arbitrary rigid objects. It offers a state of the art review of the current data structures for collision detection and presents new applications.
Series Editors’ Foreword.- Preface.- Part I – That was Then, This is Now.- Introduction.- A Brief Overview of Collision Detection.- Part II – Algorithms and Data Structures.- Kinetic Data Structures for Collision Detection.- Sphere Packings for Arbitrary Objects.- Inner Sphere Trees.- Part III – Evaluation and Application.- Evaluation and Analysis of Collision Detection Algorithms.- Applications.- Part IV – Every End is Just a New Beginning.- Epilogue.