Upload File

the university of north carolina at chapel hill cullide: interactive collision detection between...

  • Home
  • Documents
  • The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware
91
The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware Naga K. Govindaraju, Stephane Redon, Ming C. Lin, Dinesh Manocha University of North Carolina at Chapel Hill

Upload: brooklyn-rhode

Post on 31-Mar-2015

213 views

Category:

Documents


0 download

Report

Tags:

TRANSCRIPT

Page 1: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

Naga K. Govindaraju, Stephane Redon, Ming C. Lin, Dinesh Manocha

University of North Carolina at Chapel Hill

Page 2: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Problem

Given a large environment with moving objects,

Compute overlapping objectsOverlapping triangles in each pair

Page 3: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Goal

Interactive collision detectionbetween complex objects

Large number of objectsHigh primitive countNon-convex objectsOpen and closed objects

Page 4: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Non-rigid Motion

Deformable objectsChanging topology

Page 5: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Real-time Collision Detection using our Approach

Complex breaking objects on a NVIDIA GeForce FX5800 Ultra GPU

Page 6: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Related Work

Collision detectionHardware accelerated techniques

Page 7: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Related Work

Object space techniquesTwo phases

Broad phase – Compute object pairs in close proximity Narrow phase – Check each pair for exact collision detection

Page 8: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Related Work

Broad phaseSpatial partitioningSweep-and-prune

Narrow phaseConvex objectsSpatial partitioningBounding volume hierarchies

Surveys in [Klosowski 1998, Lin and Manocha 2003, Redon et al. 2002]

Page 9: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Limitations of Object-space Techniques

Considerable pre-processingHard to achieve real-time performance on complex deformable models

Page 10: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Collision Detection using Graphics Hardware

Primitive rasterization – sorting in screen-space

Interference tests

Page 11: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Image Space Techniques

Use of graphics hardwareCSG rendering [Goldfeather et al. 1989, Rossignac et al. 1990]Interferences and cross-sections [Baciu et al. 1998, Myszkowski 1995, Rossignac et al. 1992, Shinya and Forgue 1991]Minkowski sums [Kim et al. 2001]Cloth animation [Vassilev et al. 2001]Virtual Surgery [Lombardo et al. 1999]Proximity computation [Hoff et al. 2001, 2002]

Page 12: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Limitations of Current Approaches

Closed modelsFrame buffer readbacks – slow

Page 13: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

CPU, GPU and Bandwidth Growth on Consumer PCs

Page 14: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

CPU Growth Rate

Courtesy: Anselmo Lastra

Page 15: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

CPU Growth Rate

GPU Growth Rate

Courtesy: Anselmo Lastra

Page 16: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

GPU Growth Rate

CPU Growth Rate

AGP Bandwidth Growth Rate

Courtesy: Anselmo Lastra

Page 17: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Readback Timings

NVIDIA GeForce 4Dell Precision Workstation1Kx1K depth buffer – 50ms

Page 18: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Outline

OverviewPruning AlgorithmImplementation and ResultsConclusions and Future Work

Page 19: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Outline

OverviewPruning AlgorithmImplementation and ResultsConclusions and Future Work

Page 20: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Overview

Potentially Colliding Set (PCS) computationExact collision tests on the PCS

Page 21: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Algorithm

Object LevelPruning

Sub-objectLevel

PruningExact Tests

GPU based PCS computation

Using CPU

Page 22: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Potentially Colliding Set (PCS)

PCS

Page 23: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Potentially Colliding Set (PCS)

PCS

Page 24: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Outline

Problem OverviewOverviewPruning AlgorithmImplementation and ResultsConclusions and Future Work

Page 25: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Algorithm

Object LevelPruning

Sub-object Level

PruningExact Tests

Page 26: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Visibility Computations

Lemma 1: An object O does not collide with a set of objects S if O is fully visible with respect to S

Utilize visibility for PCS computation

Page 27: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

set S

Collision Detection using Visibility Computations

Fully VisibleObject O

Page 28: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Pruning

Lemma 2: Given n objectsO1,O2,…,On , an object Oi does notbelong to PCS if it does notcollide with O1,…,Oi-1,Oi+1,…,On

Prune objects that do not collide

Page 29: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Pruning

O1 O2 … Oi-1 Oi Oi+1 … On-1 OnO1 O2 … Oi-1 Oi Oi+1 … On-1 OnO1 O2 … Oi-1 Oi Oi+1 … On-1 On

Page 30: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Pruning

O1 O2 … Oi-1 Oi

Page 31: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Pruning

Oi Oi+1 … On-1 On

Page 32: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Computation

Each object tested against all objects but itselfNaive algorithm is O(n2)Linear time algorithm

Uses two pass rendering approachConservative solution

Page 33: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Computation: First Pass

O1 O2 … Oi-1 Oi Oi+1 … On-1 On

Render

Page 34: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Computation: First Pass

Fully Visible?

Render

O1

Page 35: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

O1 O2 … Oi-1 Oi

PCS Computation: First Pass

Fully Visible?

Render Yes. Does not collide withO1,O2,…,Oi-1

Page 36: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Computation: First Pass

O1 O2 … Oi-1 Oi Oi+1 … On-1 On

Render

Fully Visible?

Page 37: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Computation: Second Pass

O1 O2 … Oi-1 Oi Oi+1 … On-1 On

Render

On

Page 38: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Computation: Second Pass

Render

Fully Visible?

On

Page 39: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Computation: Second Pass

Render

Fully Visible?

Oi Oi+1 … On-1 On

Yes. Does not collide with Oi+1,…,On-1,On

Page 40: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Computation: Second Pass

Render

Fully Visible?

O1 O2 … Oi-1 Oi Oi+1 … On-1 On

Yes. Does not collide with O1,…,On-1,On

Page 41: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Computation

O1 O2 … Oi-1 Oi Oi+1 … On-1 On

Fully VisibleFully Visible

Page 42: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS Computation

O1 O2 O3 … Oi-1 Oi Oi+1 … On-2 On-1 On

O1 O3 … Oi-1 Oi+1 … On-1

Page 43: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

ExampleO1

O2

O3

O4Scene with 4 objectsO1and O2 collideO3, O4 do not collide

Initial PCS = { O1,O2,O3,O4 }

Page 44: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

O3

O1

First Pass

O2

Order of rendering: O1 O4

O3

Fully Visible

O1

Fully Visible

O4O4

Fully Visible

Not Fully Visible

Page 45: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Second Pass

O1

O3

O2O2

Fully Visible

Order of rendering: O4 O1

O4O4

Fully Visible

O3

Fully Visible

Not Fully Visible

Page 46: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

After two passesO1

O2

O3

O4

Fully Visible

Fully Visible

Page 47: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Potential Colliding SetO1

O2

PCS ={O1,O2}

Page 48: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Algorithm

Object LevelPruning

Sub-object Level

PruningExact Tests

Page 49: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Overlap Localization

Each object is composed of sub-objectsWe are given n objects O1,…,On

Compute sub-objects of an object Oi that overlap with sub-objects of other objects

Page 50: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Overlap Localization

Our solutionTest if each sub-object of Oi overlaps with sub-objects of O1,..Oi-1

Test if each sub-object of Oi overlaps with sub-objects of Oi+1,...,On

Linear time algorithmExtend the two pass approach

Page 51: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Potential Colliding SetO1

O2

PCS = {O1,O2}

Page 52: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

O1

Sub-objects

O2

PCS = sub-objects of {O1,O2}

Page 53: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

First Pass

Rendering order: Sub-objects of O1 O2

Page 54: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Fully VisibleFirst Pass

Page 55: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Fully Visible First Pass

Page 56: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Fully Visible

Fully Visible

Not Fully Visible

First Pass

Page 57: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Fully Visible

Fully Visible

Fully Visible

First Pass

Page 58: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Fully Visible

Fully Visible

Fully Visible

First Pass

Page 59: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Fully Visible

Fully Visible

Fully Visible

Fully Visible

First Pass

Page 60: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Second Pass

Rendering order: Sub-objects of O2 O1

Page 61: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Fully Visible

Second Pass

Page 62: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Fully Visible

Second Pass

Page 63: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Fully VisibleSecond Pass

Page 64: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Not Fully Visible

Fully Visible

Fully Visible

Fully Visible

Second Pass

Page 65: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Fully Visible

Fully Visible

Fully Visible

Fully VisibleSecond Pass

Page 66: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Fully Visible

Fully Visible

Fully Visible

After two passes

Page 67: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

PCS

Page 68: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Algorithm

Object LevelPruning

Sub-objectlevel

PruningExact Tests

Exact Overlap tests using CPU

Page 69: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Visibility Queries

We require a queryTests if a primitive is fully visible or not

Current hardware supports occlusion queries

Test if a primitive is visible or not

Our solutionChange the sign of depth function

Page 70: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Visibility Queries

Depth function

GEQUAL LESSAll fragments Pass FailPass

Fail

Fail

PassFail PassFail

Query not supported

Occlusion query

Examples - HP_Occlusion_test, NV_occlusion_query

Page 71: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Bandwidth Analysis

Read back only integer identifiers

Independent of screen resolution

Page 72: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Optimizations

First use AABBs as object bounding volumeUse orthographic views for pruningPrune using original objects

Page 73: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Outline

OverviewPruning AlgorithmImplementation and ResultsConclusions and Future Work

Page 74: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Implementation

Dell Precision workstationDell M50 Laptop

Page 75: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Test Models: Environment 1

100 deforming cylindersTotal – 20K triangles

Page 76: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Test Models: Environment 2

Deforming toriiEach torus – 20K triangles

Page 77: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Test Model: Environment 3

250K Dragon35K Bunny

Page 78: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Test Model: Environment 4

Breaking dragon – 250K trianglesBunny – 35K triangles

Page 79: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Implementation

Dell Precision workstation, 2.4GHz Pentium IV CPU, NVIDIA GeForce FX 5800 Ultra GPU, 2GB memory running Windows 2000

Page 80: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Performance

Number of objects v/s collision time

(in m

s)

Page 81: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Performance

Number of polygons v/s collision time

(in m

s)

Page 82: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Performance

Screen resolution v/s collision time

(in m

s)

Page 83: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Advantages

No coherenceNo assumptions on motion of objectsWorks on generic modelsA fast pruning algorithmNo frame-buffer readbacks

Page 84: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Limitations

No distance or penetration depth informationResolution issuesNo self-collisionsCulling performance varies with relative configurations

Page 85: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Live Demo of Environment 4

Dell M50 laptop, 2.4GHz Pentium IV-M CPU, NVIDIA Quadro4 700GoGL GPU, 1GB memory running Windows XP

Page 86: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Live Demo of Environment 1

Avg. frames per second = 300

Page 87: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Conclusions

Novel algorithm for collision detection using graphics hardware

Applicable to polygon soupsNo assumptions on motion

Linear time PCS computation algorithmNo frame buffer readbacks

Page 88: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Conclusions

First practical solution for general deformable models and breaking objects

Page 89: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Future Work

Handle self-collisionsApply to more interactive applicationsDistance and penetration depth computation

Page 90: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Acknowledgements

Army Research OfficeNational Science FoundationOffice of Naval ResearchIntel CorporationNVIDIA CorporationStanford Graphics LaboratoryUNC GAMMA Group

Page 91: The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL CULLIDE: Interactive Collision Detection Between Complex Models in Large Environments using Graphics Hardware

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

Questions?

More info: http://gamma.cs.unc.edu/CULLIDE

E-mail: [email protected]


BLESSED SACRAMENT CHAPEL- MOUNT CARMEL CHAPEL -PONDA

Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University

Collision Diagrams - NCDOT • Introduction • How to Load and Use the Collision Diagram Program • Other Notes on Collision Diagrams • Appendix –Example collision diagrams

UNC Chapel Hill M. C. Lin References Collision Detection between Geometric Models: A Survey, by M. Lin and S. Gottschalk, Proc. of IMA Conference on Mathematics

CHAPEL OAKS FUNERAL HOME, INC DBA CHAPEL OAKS …

THE CHAPEL *iiiiiIiiiiiiiiiiiiiF- The Chapel can

6 Chapel 6.1 A Brief History of Chapel

UNC Chapel Hill M. C. Lin Linear Programming Reading: Chapter 4 of the Textbook Driving Applications –Casting/Metal Molding –Collision Detection Randomized

Collision Detection - WPIusers.wpi.edu/~zli11/teaching/rbe550_2017/slides/6-Collision Detection.pdfSelf-Collision Checking for Articulated Robot Self-collision is typically not an

Collision Shop Planning Handbook · PDF fileProvided courtesy of Collision Equipment Experts Collision Shop Planning Handbook Your guide to laying out and equipping a productive Collision

Consolidated version Collision Contact COLLISION (III 1) Very

SCHOOL NAME Duncan Chapel Elem Duncan Chapel Elementary

Collision Tolerant and Collision Free Packet Scheduling ...millitsa.coe.neu.edu › publications › journal › hamid-jou-online.pdf · Collision Tolerant and Collision Free Packet

Jur van den Berg, Stephen J. Guy, Ming Lin, Dinesh Manocha University of North Carolina at Chapel Hill Optimal Reciprocal Collision Avoidance (ORCA)

ASSEMBLY COMMITTEE MINUTES - Nevada … Flint, representing Arch of Reno Wedding Chapel, Antique Angel Wedding Chapel, Silver Bells Wedding Chapel, Vegas Adventure Wedding Chapel,

VIDYASAGAR UNIVERSITY - MOYNA COLLEGE of gases: collision diameter, collision cross-section, collision frequency, collision density, mean free path, viscosity of gases, effect of pressure

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL Interactive Visualization and Collision Detection using Dynamic Simplification and Cache-Coherent Layouts

Quick-CULLIDE: Efficient Inter- and Intra-Object Collision Culling using Graphics Hardware

COLLISION REPAIR - TulsaTech.edu€¦ · Intro. to Collision Repair Technology Auto Collision Trim & Hardware Auto Collision Non-Structural Metal Straightening / Repair Automotive

Phoenix Collision Repair Process By Capitol Collision

Leadership Council - WordPress.com Leadership Council | Calvary Chapel Association ... Maranatha Chapel Pastor Lloyd Pulley Calvary Chapel Old Bridge Pastor Sandy Adams Calvary Chapel

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL Collision Detection for Deformable Objects Xin Huang [email protected] 16/10/2007

Introduction to Collision Detection & Fundamental Geometric Concepts Ming C. Lin Department of Computer Science University of North Carolina at Chapel

Re-Collision: A Collision Reconstruction Forensics

CULLIDE: Interactive Collision Detection Between Complex ...gamma.cs.unc.edu/CULLIDE/cullide.pdfstation with NVIDIA GeForce FX 5800 Ultra graphics card and a Pentium IV processor,

Tag Anti-Collision Resolution for Improved Quality of · PDF fileTag Anti-Collision Resolution for Improved Quality of RFID ... Anti-Collision using Precise ... 3.2 Collision Problems

Theoretical Formulation of Collision Rate and Collision ...research.me.udel.edu/~lwang/reprints/Hydro-TF-August-25.pdfTheoretical Formulation of Collision Rate and Collision Efficiency

Ambulance Collision Report Users’ Manual · Ambulance Collision Report Users’ Manual. Completing an Ambulance Collision Report (HS0237) is mandatory for any collision involving

Apache Junction Collision Repair Center | Excel Collision Centers

Accident Investigation into a Near Mid-Air Collision Tomita - near collision in Japan.pdf · Accident Investigation into a Near Mid-Air Collision ... (Traffic Alert and Collision

AMELIA PLANTATION CHAPEL Footprints - Amelia Chapel

Chapter 15 Collision Theorydavidhsu666.com/downloads/Collision-Elastic/MIT Collision...15-1 Chapter 15 Collision Theory Despite my resistance to hyperbole, the LHC [Large Hadron Collider]

Michelangelo The Sistine Chapel Ceiling. The Sistine Chapel

Kinstone Chapel: Signs & Symbols...Kinstone Chapel: Signs & Symbols Kinstone Chapel Chapel Overview The Kinstone Chapel is a place for personal solitude and quiet time and can be rented

Collision Avoidance Theory with Application to Automotive Collision