System and method for collision checking between solid objects and vectors

A path analyzer, comprising

• a programmable comparator that converts a specified path's first and second endpoints in three dimensional space into first and second map signals, wherein each map signal indicates whether the corresponding path endpoint's position on predefined X, Y and Z coordinate axes is above, below or within a range of coordinate values associated with a specified obstacle;
• wherein said specified obstacle is specified by coordinate values corresponding to a rectangular parallelepiped having six sides;
• a first decoder that decodes said first and second map signals and generates a path analysis signal that specifies one of three path conditions selected from the group comprising:
• blocked (said specified path is blocked by said specified obstacle), unblocked (said specified path is not blocked by said specified obstacle), and may-be-blocked (said specified path may be blocked by said specified obstacle);
• and
• a dedicated computational unit, coupled to said first decoder, that is activated only when said first decoder generates a path analysis signal specifying a may-be-blocked path condition;
• said dedicated computational unit including (1) an arithmetic unit having a controller preprogrammed to perform selected ones of six predefined path intersection computations, each predefined path intersection computation determining whether any specified path intersects a distinct one of any specified obstacle's six sides;
• and (2) a second decoder that decodes said first and second map signals and generates identifier signals that identify a minimum number of said predefined path intersection computations necessary to determine whether said specified path is blocked by said specified obstacle;
• wherein said controller is coupled to second decoder for receiving said identifier signals and for directing said arithmetic unit to perform the ones of said predefined path intersection computations identified by said identifier signals.