research-article

Local Optimization for Robust Signed Distance Field Collision

Authors:

Matthias Müller,

Nuttapong Chentanez,

Stefan Jeschke,

Zach CorseAuthors Info & Claims

Proceedings of the ACM on Computer Graphics and Interactive Techniques, Volume 3, Issue 1

Article No.: 8, Pages 1 - 17

https://doi.org/10.1145/3384538

Published: 04 May 2020 Publication History

Abstract

Signed distance fields (SDFs) are a popular shape representation for collision detection. This is due to their query efficiency, and the ability to provide robust inside/outside information. Although it is straightforward to test points for interpenetration with an SDF, it is not clear how to extend this to continuous surfaces, such as triangle meshes. In this paper, we propose a per-element local optimization to find the closest points between the SDF isosurface and mesh elements. This allows us to generate accurate contact points between sharp point-face pairs, and handle smoothly varying edge-edge contact. We compare three numerical methods for solving the local optimization problem: projected gradient descent, Frank-Wolfe, and golden-section search. Finally, we demonstrate the applicability of our method to a wide range of scenarios including collision of simulated cloth, rigid bodies, and deformable solids.

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Cited By

Sun MYan QLiang ZKou DYang DYuan RZhao XLi MZhang LCai JKankanhalli MPrabhakaran BBoll SSubramanian RZheng LSingh VCesar PXie LXu D(2024)IF-Garments: Reconstructing Your Intersection-Free Multi-Layered Garments from Monocular VideosProceedings of the 32nd ACM International Conference on Multimedia10.1145/3664647.3681222(6588-6597)Online publication date: 28-Oct-2024
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Du YLi YCoros SThomaszewski B(2024)Robust and Artefact‐Free Deformable Contact with Smooth Surface RepresentationsComputer Graphics Forum10.1111/cgf.15187Online publication date: 17-Oct-2024
https://doi.org/10.1111/cgf.15187
López-Adeva Fernández-Layos PMerchante L(2024)Convex Body Collision Detection Using the Signed Distance FunctionComputer-Aided Design10.1016/j.cad.2024.103685170:COnline publication date: 1-May-2024
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Index Terms

Local Optimization for Robust Signed Distance Field Collision
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Modeling and simulation
    1. Simulation types and techniques
      1. Interactive simulation
      2. Simulation by animation

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cover image Proceedings of the ACM on Computer Graphics and Interactive Techniques

Proceedings of the ACM on Computer Graphics and Interactive Techniques Volume 3, Issue 1

Apr 2020

161 pages

EISSN:2577-6193

DOI:10.1145/3395964

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Copyright © 2020 ACM.

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Published: 04 May 2020

Published in PACMCGIT Volume 3, Issue 1

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Cited By

Sun MYan QLiang ZKou DYang DYuan RZhao XLi MZhang LCai JKankanhalli MPrabhakaran BBoll SSubramanian RZheng LSingh VCesar PXie LXu D(2024)IF-Garments: Reconstructing Your Intersection-Free Multi-Layered Garments from Monocular VideosProceedings of the 32nd ACM International Conference on Multimedia10.1145/3664647.3681222(6588-6597)Online publication date: 28-Oct-2024
https://dl.acm.org/doi/10.1145/3664647.3681222
Du YLi YCoros SThomaszewski B(2024)Robust and Artefact‐Free Deformable Contact with Smooth Surface RepresentationsComputer Graphics Forum10.1111/cgf.15187Online publication date: 17-Oct-2024
https://doi.org/10.1111/cgf.15187
López-Adeva Fernández-Layos PMerchante L(2024)Convex Body Collision Detection Using the Signed Distance FunctionComputer-Aided Design10.1016/j.cad.2024.103685170:COnline publication date: 1-May-2024
https://dl.acm.org/doi/10.1016/j.cad.2024.103685
Zesch RModi VSueda SLevin D(2023)Neural Collision Fields for Triangle PrimitivesSIGGRAPH Asia 2023 Conference Papers10.1145/3610548.3618225(1-10)Online publication date: 10-Dec-2023
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Areias PSukumar NAmbrósio J(2023)Continuous gap contact formulation based on the screened Poisson equationComputational Mechanics10.1007/s00466-023-02309-872:4(707-723)Online publication date: 29-Mar-2023
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Chou GChugunov IHeide FKoyejo SMohamed SAgarwal ABelgrave DCho KOh A(2022)GenSDFProceedings of the 36th International Conference on Neural Information Processing Systems10.5555/3600270.3602076(24905-24919)Online publication date: 28-Nov-2022
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