Accelerated sum-of-squares collision detection for time-varying curved trajectories
AssigneeDisney Enterprises, Inc.
InventorsRasmus TAMSTORF, Zoe Sarah MARSCHNER, Paul ZHANG
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Abstract
A method for detecting collisions associated with a simulation includes generating a plurality of dual quaternion representations associated with a plurality of curved trajectories for a plurality of objects. The method also includes determining a semialgebraic domain associated with the plurality of dual quaternion representations and performing an optimization over the semialgebraic domain to determine one or more collision states associated with the plurality of objects. The method further includes causing the simulation to be performed based on the one or more collision states.
Claims20
A computer-implemented method for detecting collisions associated with a simulation, the method comprising:
- generating a plurality of dual quaternion representations associated with a plurality of curved trajectories for a plurality of objects;
- determining a semialgebraic domain associated with the plurality of dual quaternion representations;
- performing an optimization over the semialgebraic domain to determine one or more collision states associated with the plurality of objects;
- and
- causing the simulation to be performed based on the one or more collision states.
One or more non-transitory computer-readable media storing instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of:
- generating a plurality of dual quaternion representations associated with a plurality of curved trajectories for a plurality of objects;
- determining a semialgebraic domain associated with the plurality of dual quaternion representations;
- performing an optimization over the semialgebraic domain to determine one or more collision states associated with the plurality of objects;
- and
- causing a simulation to be performed based on the one or more collision states.
A system, comprising:
- one or more memories that store instructions, and
- one or more processors that are coupled to the one or more memories and, when executing the instructions, are configured to perform the steps of:
- generating a plurality of dual quaternion representations associated with a plurality of curved trajectories for a plurality of objects;
- determining a semialgebraic domain associated with the plurality of dual quaternion representations;
- performing an optimization over the semialgebraic domain to determine one or more collision states associated with the plurality of objects;
- and
- causing a simulation to be performed based on the one or more collision states.
Dependencies are inferred from the claim text.