RAPID -- Improvements of v 1.03 over v 1.01
RAPID version 1.03 has the following improvements over the original
release, version 1.01.
- Robust Tree Building:
The first is that the tree building algorithm now
consistently constructs a sufficiently deep OBB hierarchy so that
all leaf nodes contain exactly one triangle each. The older version
sometimes failed an internal consistency check, emitting an error
message several times during tree construction, and resulting in a tree
which permitted correct collision detection, but with reduced performance.
- Robust Triangle Overlap Test:
The second improvement is a new triangle overlap test which is
more expensive but much more robust. The old test, based on edge-face
intersection tests using gaussian elimination, would sometimes fail
when an edge of one triangle was parallel to the face of the other
triangle. The new test is based on separating axes, like the OBB
overlap test - but is more expensive than an OBB overlap test because
triangles don't have the nice structure that the boxes do (see the OBB
paper for details).
Click here to obtain
RAPID version
1.03.