Re: [Algorithms] Algorithm to return point to surface of concave volume

[Nguyen B. <ng...@gm...>]

> AFAIK there is no correct way to take the many local solutions you would get from individual point-vs-capsule queries and "munge" them together to arrive at a correct global solution.
>
> If there *is* such a method, I'd love to know about it though since it would be extremely useful. Currently we just use "iteratively project out of local collisions, and pray" :)
>
> raigan
>

Actually there is such method. Our method doesn't try to merge
multiple local contacts into one contact but handle all of them
directly. The price for it is you will end up with more contacts to
handle. The intuitive is that instead of using collision detection to
merge the set of local contacts, you can let the LCP solvers to do
that instead. Advantage : the solution is more physically correct,
disadvantage : bigger system to solve.


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Binh Nguyen
Computer Science Department
Rensselaer Polytechnic Institute
Troy, NY, 12180
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