A unified framework for collision detection, avoidance, and response

Collision detection and collision avoidance algorithms are necessary for accurate and realistic animation, but are presently implemented separately and independently. This is a disadvantage when designing some simulations or animations which would otherwise benefit from the availability of both algorithms during run-time. We propose a unified algorithm incorporating both collision detection and collision avoidance simultaneously during an animation. Our algorithm benefits animations whose moving objects generally require collision-free movement, but under certain circumstances may collide with other objects within the scene. The algorithm utilizes vector fields as its basis, and we present a supporting algebra that facilitates the design of a simulation’s behavioral interaction. Two sample simulations are presented, and their implementation and performance is discussed