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Title: Fast and Exact Root Parity for Continuous Collision Detection
Abstract

We introduce the firstexactroot parity counter for continuous collision detection (CCD). That is, our algorithm computes the parity (even or odd) of the number of roots of the cubic polynomial arising from a CCD query. We note that the parity is unable to differentiate between zero (no collisions) and the rare case of two roots (collisions).

Our method does not have numerical parameters to tune, has a performance comparable to efficient approximate algorithms, and is exact. We test our approach on a large collection of synthetic tests and real simulations, and we demonstrate that it can be easily integrated into existing simulators.

 
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Award ID(s):
1908767 1835712 1652515
NSF-PAR ID:
10367780
Author(s) / Creator(s):
 ;  ;  ;  ;  ;  
Publisher / Repository:
Wiley-Blackwell
Date Published:
Journal Name:
Computer Graphics Forum
Volume:
41
Issue:
2
ISSN:
0167-7055
Page Range / eLocation ID:
p. 355-363
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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