A Large-scale Benchmark and an Inclusion-based Algorithm for Continuous Collision Detection
A Large-scale Benchmark and an Inclusion-based Algorithm for Continuous Collision Detection
We introduce a large scale benchmark for continuous collision detection (CCD) algorithms, composed of queries manually constructed to highlight challenging degenerate cases and automatically generated using existing simulators to cover common cases. We use the benchmark to evaluate the accuracy, correctness, and efficiency of state-of-the-art continuous collision detection algorithms, both …