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OBB Tree
OBB Tree
t a
Separated if
A B
r r t a
Axes to test
But which axes to test?
Simplification:
Deal only with polytopes
Convex hulls of finite point sets
Planar faces
Axes to test
Handwavingly:
Look at the ways A and B can come into contact.
In 3D, reduces to vertex-face and edge-edge contacts.
Vertex-face:
a face normal from either polytope will serve as a separating axis.
Edge-edge:
the cross product of an edge from each will suffice.
Axes to test
Theoretically:
Consider the Minkowski difference C of A and B.
When A and B disjoint, origin outside C, specifically outside some face F.
Faces of C come from A, from B, or from sweeping the faces of either along
the edges of the other.
Therefore the face normal of F is either from A, from B, or the cross product
of an edge from either.
Axes to test
Four axes for two 2D OBBs:
Moving objects
When objects move, projected intervals move:
Recursive Collision
Detection
Recursive
Collision
Detection
)
Returns TRUE if BBs
Overlap.
Now Primitive
Collision Test
Object A Object B Object A Object B
Object B Object A
Performance
Sep. Axis Theorem Closest Features Linear Programming
5 7 S
45 105 S
180 230 S