Скачать или смотреть Interactive generalized penetration depth computation for rigid and articulated models

We present a novel, real-time algorithm to compute generalized penetration depth (PDg) between two overlapping rigid or articulated models.
Given the high complexity of computing PDg, our algorithm approximates PDg based on iterative, constrained optimization on the contact
space, defined by the overlapping objects. The main ingredient of our algorithm is a novel and general formulation of distance metric, the object
norm, in configuration space for articulated models and a compact closed-form solution for it. Then, we perform constrained optimization by
linearizing the contact constraint and minimizing the object norm under such a constraint. In practice, our algorithm can compute PDg for
rigid or articulated models consisting of tens of thousands of triangles in tens of milliseconds. We also introduce three novel applications using
PDg computation including retraction-based motion planning, physically-based animation and data-driven grasping.