Collision Detection and Proximity Queries Videos 

The tutorial for our collision detection method, this demonstrates the steps in determining the proximity information for two objects.

The continents in this demonstration are modeled as rigid bodies.
Notice the high complexity of the colliding coastlines.

This demonstration shows how some 3D scenes can be simplified to
a 2D collision detection problem. Here we demonstrate various convex rigid body scenes moving and interacting realistically.

This demonstration shows two deformable jello disks colliding and responding based on their penetration. The models are deforming, showing how our method is dynamic and does not rely on any precomputation.

Collision detection can assist in computing physically realistic motion. Using a prototype of PQP, we performed collision detection on this falling rings example, between all 45 pairs of rings at each of 557
frames of animation. Each ring has 256 triangles. The average query
time for each ring pair was .402 ms using a Pentium II 400 MHz machine.

This movie shows the motion of a piston (3614 triangles) in an engine block (5289 triangles). Collision detection can be used to verify that
the piston slides without touching its chamber; distance computation
can measure the gap between them. On a 400 MHz Pentium II, our average collision query time between the piston and block was 36.7
ms; the average exact distance query time was 213 ms.

The collision free path of a torus (20000 triangles) in a cave-like model (50970 triangles) was precomputed by a path planner using distance computation as a subroutine. On a Pentium II 400 MHz machine, the average query time during this precomputation was 25.0 ms. The video demonstrates that the resulting path is piecewise linearly interpolated between six torus configurations.

Rendered offline, this shows the 15-million-triangle model of a
coal-fired power plant on which we run our system.

Live footage showing a user-controlled avatar approaching and
reaching for a valve assembly.

Live footage showing a wrench in close contact with a valve assembly.

Live footage of an avatar moving beneath a catwalk. All geometry
within 300mm of the avatar is drawn in red. This situation can be
used to simulate carried objects of different sizes.

Live footage of an avatar moving beneath the same catwalk. The situation is as above, but this time the proximity threshold is one meter.