Technical Reports

The ICICS/CS Reading Room

UBC CS TR-2009-03 Summary

Numerically Robust Continuous Collision Detection for Dynamic Explicit Surfaces, February 20, 2009 Tyson Brochu and Robert Bridson, 5 pages

We present a new, provably robust method for continuous collision detection for moving triangle meshes. Our method augments the spatial coordinate system by one dimension, representing time. We can then apply numerically robust predicates from computational geometry to detect intersections in space-time. These predicates use only multiplication and addition, so we can determine the maximum numerical error accumulated in their computation. From this forward error analysis, we can identify and handle degenerate geometric configurations without resorting to user-tuned error tolerances.

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