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#### Efficient collision detection for moving polyhedra

##### MPS-Authors
http://pubman.mpdl.mpg.de/cone/persons/resource/persons45414

Schömer,  Elmar
Algorithms and Complexity, MPI for Informatics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons45612

Thiel,  Christian
Algorithms and Complexity, MPI for Informatics, Max Planck Society;

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##### Fulltext (public)

MPI-I-94-147.pdf
(Any fulltext), 245KB

##### Supplementary Material (public)
There is no public supplementary material available
##### Citation

Schömer, E., & Thiel, C.(1994). Efficient collision detection for moving polyhedra (MPI-I-94-147). Saarbrücken: Max-Planck-Institut für Informatik.

Cite as: http://hdl.handle.net/11858/00-001M-0000-0014-B52A-D
##### Abstract
In this paper we consider the following problem: given two general polyhedra of complexity $n$, one of which is moving translationally or rotating about a fixed axis, determine the first collision (if any) between them. We present an algorithm with running time $O(n^{8/5 + \epsilon})$ for the case of translational movements and running time $O(n^{5/3 + \epsilon})$ for rotational movements, where $\epsilon$ is an arbitrary positive constant. This is the first known algorithm with sub-quadratic running time.