Verfahren und Vorrichtung zur Kollisionserkennung von Objekten

DE 10106023 A UPAB: 20021108 NOVELTY - The collision detection involves first forming hierarchical binary bounding box trees with axially parallel bounding boxes and data in the respective object coordination system. From the tree structures the relative positions of the objects can be determined by carrying out a transformation on one of the objects. Then a simultaneous traversing of the tree structures is carried out. By testing for overlapping of the bounding boxes and polygons contained in them, it can be determined whether the objects will collide. In the bounding box tree structures, each bounding box pair has a lower hierarchical position. DETAILED DESCRIPTION - For collision detection, where bounding boxes of the objects overlap an auxiliary bounding box is calculated which is aligned with the coordinate system of the first object and surrounds the second object as closely as possible. INDEPENDENT CLAIMS also cover an apparatus for carrying out the method. USE - Especially for use in robot control, computer animation systems and virtual reality systems. ADVANTAGE - The system allows very fast collision detection whilst requiring very little memory space