title: Continuous collision detection for ellipsoids.
abstract: We present an accurate and efficient algorithm for continuous collision detection between two moving ellipsoids under rational Euclidean or affine motion. We start with a highly optimized implementation of interference testing between two stationary ellipsoids based on an algebraic condition described in terms of the signs of roots of the characteristic equation of two ellipsoids. Then we derive a time-dependent characteristic equation for two moving ellipsoids, which enables us to develop an efficient algorithm for computing the time intervals in which two moving ellipsoids collide. The effectiveness of our approach is demonstrated with several practical examples.
authors.affiliation: Department of Computer Science, The University of Hong Kong, Hong Kong. ykchoi@cs.hku.hk
authors.forename: Yi-King
authors.initials: YK
authors.lastname: Choi
authors.forename: Jung-Woo
authors.initials: JW
authors.lastname: Chang
authors.forename: Wenping
authors.initials: W
authors.lastname: Wang
authors.forename: Myung-Soo
authors.initials: MS
authors.lastname: Kim
authors.forename: Gershon
authors.initials: G
authors.lastname: Elber