Journal article
Improving the GJK algorithm for faster and more reliable distance queries between convex objects
- Abstract:
-
This article presents a new version of the Gilbert-Johnson-Keerthi (GJK) algorithm that circumvents the shortcomings introduced by degenerate geometries. The original Johnson algorithm and Backup procedure are replaced by a distance subalgorithm that is faster and accurate to machine precision, thus guiding the GJK algorithm toward a shorter search path in less computing time. Numerical tests demonstrate that this effectively is a more robust procedure. In particular, when the objects are fou...
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- Publication status:
- Published
- Peer review status:
- Peer reviewed
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Authors
Funding
+ Rolls-Royce plc
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Grant:
Strategic Investment
in LOw-carbon Engine Technology (SILOET) project
+ UK Technology
Strategy Board
More from this funder
Grant:
Strategic Investment
in LOw-carbon Engine Technology (SILOET) project
Bibliographic Details
- Publisher:
- Association for Computing Machinery Publisher's website
- Journal:
- ACM Transactions on Graphics Journal website
- Volume:
- 36
- Issue:
- 3
- Article number:
- 30
- Publication date:
- 2017-06-15
- Acceptance date:
- 2017-03-15
- DOI:
- ISSN:
-
1557-7368
Item Description
- Keywords:
- Pubs id:
-
pubs:701838
- UUID:
-
uuid:69c743d9-73de-4aff-8e6f-b4dd7c010907
- Local pid:
- pubs:701838
- Deposit date:
- 2017-06-25
Terms of use
- Copyright holder:
- ACM
- Copyright date:
- 2017
- Notes:
- Copyright © 2017 ACM. This is the accepted manuscript version of the article. The final version is available online from ACM at: https://doi.org/10.1145/3083724
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