self-CD: Interactive Self-collision Detection for Deformable Body Simulation Using GPUs

Yoo-Joo Choi, Young J. Kim, Myoung-Hee Kim
Department of Computer Scienceand Engineering, Ewha Womans Univesity, Seol, Korea
Systems Modeling and Simulation: Theory and Applications (2005), pp. 187-196


   title={Self-CD: Interactive self-collision detection for deformable body simulation using GPUs},

   author={Choi, Y.J. and Kim, Y.J. and Kim, M.H.},

   journal={Systems Modeling and Simulation: Theory and Applications},





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This paper presents an efficient self-collision detection algorithm for deformable body simulation using programmable graphics processing units(GPUs). The proposed approach stores a triangular mesh representation of a deformable model as 1D textures and rapidly detects self-collisions between all pairs of triangular primitives using the programmable SIMD capability of GPUs [1]. Since pre-computed spatial structure such as bounding volume hierarchy is not used in our algorithm, our algorithm does not require expensive runtime updates to such complex structure as the underlying model deforms. Moreover, in order to overcome a potential bottleneck between CPU and GPU, we propose a hierarchical encoding/decoding scheme using multiple off-screen buffers and multi-pass rendering techniques, which reads only a region of interests in the resulting off-screen buffer.
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