We perform collision detection between static rigid objects using a bounding volume hierarchy which consists of an oriented bounding box (OBB) tree enhanced with bounding spheres. This approach combines the compactness of OBBs and the simplicity of spheres. The majority of distant objects are separated using the simpler sphere tests. The remaining objects are in close proximity, where some sepa...

We present the rasterized bounding volume hierarchy (RBVH), a compact data structure that accelerates approximate ray casting of complex meshes and provides adjustable level of detail. During construction, we identify subtrees of BVHs containing surfaces that can be represented by height fields. For these subtrees the conventional ray-surface intersection, which possibly involves a large number...

Oriented bounding box (OBB) hierarchies can be used instead of based on axis-aligned boxes (AABB), providing tighter fitting to the underlying geometric structures and resulting in improved interference tests, such as ray-geometry intersections. In this paper, we present a method for fast, parallel transformation an existing volume hierarchy (BVH), AABBs, into oriented boxes. To end, parallelis...

We present a novel geometric data structure for approximate collision detection at haptic rates between rigid objects. Our data structure, which we call inner sphere trees, supports different kinds of queries, namely, proximity queries and a new method for interpenetration computation, the penetration volume, which is related to the water displacement of the overlapping region and, thus, corres...

In this paper we consider detecting collisions between characters whose motion is specified by motion capture data. We consider rough collisions, modeling the characters as a disk in the floor plane. To provide efficient collision detection, we introduce a hierarchical bounding volume, the Motion Oriented Bounding Box tree (MOBB tree). A MOBBtree stores space-time bounds of a motion clip. In cr...

Simulating a crowded scene like a busy shopping street requires tight packing of virtual characters. In such cases collisions are likely to occur, and the choice in collision detection shape will influence how characters are allowed to intermingle. Full collision detection is too expensive for crowds, so simplifications are needed. The most common simplification, the fixed-width, pose-independe...

A chain tree is a data structure for representing changing protein conformations. It enables very fast detection of clashes and free potential energy calculations. The efficiency of chain trees is closely related to the bounding volumes associated with chain tree nodes. A protein subchain associated with a node of a chain tree will clash with another subchain only if their bounding volumes inte...

The Real-time collision detection (CD) is an important problem in virtual environments. This paper proposes a novel algorithm called SBBK which combines three different kinds of bounding volumes (BVs) together when constructing the hybrid bounding box tree for the object to make CD more accurate and faster. For illustration, CD experiments are carried out to show its advantages. The experiment ...

Individual heterogeneity is an important source of variation in demand. Allowing for general heterogeneity is needed for correct welfare comparisons. We consider general heterogenous demand where preferences and linear budget sets are statistically independent. We find that the dimension of heterogeneity and the individual demand functions are not identified. We also find that the exact consume...