Technical Report TR-TI-2005-1 - Collision Detection for k-DOPs using SAT with Error Bounded Fixed-Point Arithmetic
نویسندگان
چکیده
We present a novel algorithm for collision detection between two discretely oriented polytopes (k-DOPs). It is an application of the well known Separating Axes Test to k-DOPs and is implemented in fixed-point arithmetic. Hence, it lends itself very well to hardware implementation. In this report we focus on the derivation of the algorithm and an error-bound on the rounding-error produced by the fixedpoint calculation. Besides controlling the resulting error it gives formal proof that no false negatives are produced.
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