Interval-Based

Interval-Based Continuous Collision Detection

This is an implementation of continuous collision detection methods described in [Snyder, John, Interval Analysis For Computer Graphics, 1992] and [Redon, Stephane and Kheddar, Abderrahmane and Coquillart, Sabine, Fast Continuous Collision Detection between Rigid Bodies, 2002]

⚠️ CAUTION: The Code Is Tested Using GCC, Probably Also Works On MSVC and Clang

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Compiling Instruction

To compile the code, first you need to install

• CMake (https://cmake.org/),
• Boost (https://www.boost.org/)

in your system.

To build the executable file, you can use CMake

cd Interval-Based/
mkdir build
cd build
cmake ../  -DCMAKE_BUILD_TYPE=Release
make

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Usage

Include #include <interval_ccd/interval_ccd.hpp>

To use the method described in [Snyder, 1992], use the function

bool vertexFaceCCD_Interval(const Eigen::Vector3d& vertex_start, const Eigen::Vector3d& face_vertex0_start, const Eigen::Vector3d& face_vertex1_start, const Eigen::Vector3d& face_vertex2_start, const Eigen::Vector3d& vertex_end, const Eigen::Vector3d& face_vertex0_end, const Eigen::Vector3d& face_vertex1_end, const Eigen::Vector3d& face_vertex2_end, double& toi); for vertex-face ccd,

use the function

bool edgeEdgeCCD_Interval(const Eigen::Vector3d& edge0_vertex0_start, const Eigen::Vector3d& edge0_vertex1_start, const Eigen::Vector3d& edge1_vertex0_start, const Eigen::Vector3d& edge1_vertex1_start, const Eigen::Vector3d& edge0_vertex0_end, const Eigen::Vector3d& edge0_vertex1_end, const Eigen::Vector3d& edge1_vertex0_end, const Eigen::Vector3d& edge1_vertex1_end, double& toi); for edge-edge ccd.

To use the method described in [Redon, 2002], use the function

bool vertexFaceCCD_Redon(const Eigen::Vector3d& vertex_start, const Eigen::Vector3d& face_vertex0_start, const Eigen::Vector3d& face_vertex1_start, const Eigen::Vector3d& face_vertex2_start, const Eigen::Vector3d& vertex_end, const Eigen::Vector3d& face_vertex0_end, const Eigen::Vector3d& face_vertex1_end, const Eigen::Vector3d& face_vertex2_end, double& toi); for vertex-face ccd,

use the function

bool edgeEdgeCCD_Redon(const Eigen::Vector3d& edge0_vertex0_start, const Eigen::Vector3d& edge0_vertex1_start, const Eigen::Vector3d& edge1_vertex0_start, const Eigen::Vector3d& edge1_vertex1_start, const Eigen::Vector3d& edge0_vertex0_end, const Eigen::Vector3d& edge0_vertex1_end, const Eigen::Vector3d& edge1_vertex0_end, const Eigen::Vector3d& edge1_vertex1_end, double& toi); for edge-edge ccd.

For vertex-face ccd, the inputs are the vertex and the triangle vertices in the begining and the end of the time step.

For edge-edge ccd, the inputs are the vertices of the two edges in the begining and the end of the time step.

toi is the output impact time.