[ODE] Re: Convex collision (was: New tri_tri_intersect)

[Shaul Kedem]

Aras,
 Not understanding any of it, is the problem, in
simpler terms, "how to know what is inside vs. what is
outside ?"

Thanks,
Shaul

--- Aras Pranckevicius <nearaz at interamotion.com>
wrote:
> > Unless I'm missing something (I only read it
> "diagonally"), it 
> > doesn't say anything about the actual problem :
> contact generation. 
> > Finding intersecting triangles between convex
> objects is not really 
> > an issue...
> 
> Certainly! Just "colliding" is easy. Now, try to
> generate contact points and 
> penetration depth from that :)
> 
> Some methods I've seen:
> * S.Cameron's penetration bounds estimation from his
> Enhancing GJK paper. 
> Probably too inaccurate.
> * G. van den Bergen's "expanding polytopes" (quite
> similar to GJK, works on 
> final GJK simplex).
> * DEEP ("Incremental Penetration Depth Estimation
> Between Convex Polytopes 
> Using Dual-space Expansion"). Actually it's not that
> scary (as you might 
> think, when reading "now we construct Gauss mapping
> of the features").
> * There's P.K.Agarwal's method that gives best
> theoretic complexity, but no 
> implementations are know. All that I've understood
> from that that it's some 
> randomized method :)
> 
> Any others?
> 
> All these solve (or estimate) penetration depth for
> convex polythedra (Bergen 
> also supports any convex objects). I guess that
> contact points (in most cases 
> you need multiple contact points for resting
> contact) could be generated (or 
> approximated), say, from final simplex in GJK case.
> 
> My own implementation ended up with plain Enhanced
> GJK only, with no 
> penetration depths etc., so all above is just paper
> reading and guessing...
> 
> 
> Aras Pranckevicius aka NeARAZ
> http://www.gim.ktu.lt/nesnausk/nearaz/
> 
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