Exact collision detection using virtual objects in virtual reality modeling of a manufacturing process

Collision detection is a key issue for modeling interactions between genera l, nonconvex objects in virtual reality applications in the manufacturing p rocess domain. Despite significant progress in developing efficient, exact collision detection algorithms for convex objects, only limited progress ha s been made in developing collision detection algorithms for general, nonco nvex objects. A concept of virtual objects is introduced to extend the appl icability of exact collision detection algorithms to nonconvex objects. A m ethodology is presented to encapsulate into virtual objects the features of interest for collision detection. Automatic procedures are presented for t he creation of virtual objects and for partitioning them into convex pieces . The methodology is best suited for interactive simulation and animation a pplications where high accuracy of object contact modeling is required. Exa mples include virtual assembly; mobile robot simulation; and manufacturing processes where accurate modeling of near-miss detection is essential, such as robotic painting, robotic welding, and NC machining operations.