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![Page 1: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/1.jpg)
Quick-CULLIDE: Efficient Inter- and Intra-Object Collision Culling using Graphics Hardware
Naga K. Govindaraju, Ming C. Lin, Dinesh ManochaUniversity of North Carolina at Chapel Hill[IEEE VR 2005]
![Page 2: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/2.jpg)
Introduction
![Page 3: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/3.jpg)
Commonly used Alg.
Bounding volume hierarchies Work well
Object undergoing rigid motion Challenge
Non-rigid or deformable object Intra-object or self-collisions
![Page 4: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/4.jpg)
Commonly used Alg. (GPU Based)
Increasingly used Check for overlaps Involve no pre-computation
Applicable to deformable and non-rigid models
However, Restricted to closed objects Do not check for self-collisions
![Page 5: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/5.jpg)
Main Contributions
Similar to CULLIDE Uses visibility queries to compute a potenti
ally colliding set (PCS) Two major extensions
Formulation generalization For both inter- and intra-object
Pruning and culling alg. improvement To compute collision-free subsets
![Page 6: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/6.jpg)
Feature
No assumptions about models Low bandwidth requirements Inter- and intra-object collision Image-precision
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Implementation environment
3.4GHz PC NVIDIA GeForce FX 6800 Ultra card Objects composed of 10K to 250K trian
gles
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Related Work
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Rigid Body Algorithms
Use spatial data structures Include
Spatial-partitioning structures Bounding-volume hierarchies
Built during the pre-processing stage and are used to accelerate run-time queries
![Page 10: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/10.jpg)
Deformable Modelsand Cloth Simulation
Hierarchical data structures Objects undergoing non-rigid motion Fast update of hierarchies of axis-align
ed bounding boxes (AABBs) Also check for self-collisions
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GPU-Based Algorithms
No pre-processing Suited for handling non-rigid motion
limited to closed objectsor involve frame-buffer readbacks
Frame-buffer readbacks Slow on current graphics systems Involve graphics pipeline stalls Limited by the bandwidth to CPU
![Page 12: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/12.jpg)
Hybrid Algorithms
Combine some of the benefits of the object-space approaches along with GPU-based accelerations
Heidelberger et al., 2003 Layer depth images (LDIs) Vertex-in-volume tests was extended to check for self-collisions be
tween water-tight objects
![Page 13: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/13.jpg)
Collision CullingUsing Visibility Queries
CULLIDE
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Overview
Given n objects that are potentially colliding P1, ..., Pn, CULLIDE performs the full-visibility tests and computes a potentially colliding set (PCS) of objects
The full visibility of P is a sufficient condition that P does not overlap with S
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Algorithm
Begins with an empty frame buffer First pass: Rasterize the primitives in th
e order P1, ..., Pn and test if they are fully visible. In this pass, if a primitive Pi is fully visible, then it does not intersect with any of the objects P1, ..., Pi−1
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Algorithm -cont’
Second pass: Perform the same operations as in the first pass but the order of rendering is changed to Pn, .., P1. In this pass, if a primitive Pi is fully visible, then it does not intersect any of the objects Pn, .., Pi+1
Pruned if fully visible in both
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Separating surface
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Limitations
Self-collisions CULLIDE is based on the existence of a sep
arating surface between the geometric primitives
PCS is very conservative on meshes with connected triangles
Culling performance affects performance of the overall algorith
m Two novel alg. to overcome those
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Collision CullingUsing Visibility Queries
Self-Collision Culling using GPUs
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Possible Contacts
Touching Contacts Primitives touch each other at a point
or an edge Penetrating Contacts
Primitives penetrate each other Touching contacts often lead to
robustness issues. Ignore. Considers only the 2nd Contacts
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Self-Colliding
A geometric primitive P is not potentially penetrating with a set of rasterized geometric primitivesif all the fragments generated by the rasterization of P have depth values less than or equal to those of the corresponding pixels in the frame buffer
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Lemma 1 – to compute the PCS
Given n geometric primitives P1, P2, ..., Pn, a geometric primitive Pi does not belong to the PCS of self-colliding primitives if it does not penetrate with P1, .., Pi−1, Pi+1, ..., Pn, 1 i n.This test can be easily decomposed as follows: a geometric primitive Pi does not belong to the PCS of self-colliding primitives if it does not penetrate with P1, .., Pi−1 and with Pi+1, ..., Pn, 1 i n
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Self-intersecting
![Page 24: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/24.jpg)
Quick-CULLIDE
Efficient Culling
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Collision-free Sets
Improve the culling efficiency Remove redundant visibility computations
Improve rasterization performance Reduce the number of rendering opeartion
s Reduce the number of pair-wise collisio
n tests
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PCS Object Classification
BFV Fully visible in both the passes Are pruned from the PCS
FFV Fully visible only in the first pass
SFV Fully visible only in the second pass
NFV Not fully visible in both the passes
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Properties
The objects in each of these sets are ordered based on their rendering order in the first pass of the algorithm
BFV, FFV, SFV, and NFV are disjoint Lemmas & Proofs are upcoming…
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Lemma 2
FFV and SFV are collision-free sets
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Proof
Let S denote the set FFV and be composed of objects {O1
S ,O2S , ...Om
S }. We now prove that no two objects Oi
S and OjS in S collide with each other. W
ithout loss of generality, let i < j. Then, in the two-pass rendering algorithm, the object Oi
S is rendered prior to the object Oj
S. As the object OjS is fully
visible with respect to OiS , using Lemma 1 in CUL
LIDE, we conclude that the two objects do not collide. Therefore, FFV is collision-free. The proof for S = SFV is collision-free is similar
![Page 30: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/30.jpg)
Lemma 3
For each object Oi FFV ,let Si = {Oj , j > i, Oj S} where S = SFV ∪ NFV .If an object Oi FFV does not collide with Si,then it does not collide with any of the objects in SFV or NFV and can be pruned from the PCS
![Page 31: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/31.jpg)
Proof
Follows from Lemma 1 in CULLIDE.This lemma implies thatif an object Oi FFV and is fully visible in the second pass of the pruning algorithm,then it provides a sufficient condition to prune the object from the PCS
![Page 32: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/32.jpg)
Lemma 4
For each object Oi SFV ,let Si = {Oj , j < i, Oj S}where S = FFV ∪ NFV .If an object Oi SFV does not collide with Si,then it does not collide with any of the objects in FFV or NFV and can be pruned from the PCS
![Page 33: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/33.jpg)
Proof
Follows from Lemma 1 in CULLIDE.This lemma implies thatif an object Oi SFV and is fully visible in the first pass of the pruning algorithm,then it provides a sufficient condition to prune the object from the PCS
![Page 34: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/34.jpg)
Lemma 5
Let S1 = FFV ∪ NFV be a set ordered by object indices in the increasing order and S2 = SFV ∪ NFV be a set ordered by object indices in the decreasing order. In the two-pass rendering algorithm, if we perform the first pass using objects in S1 and the second pass using objects in S2, and an object Oi is fully visible in both the passes, then it does not collide with any of the objects in FFV , SFV or NFV
![Page 35: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/35.jpg)
Proof
Clearly the object Oi belongs to NFV = S1∩ S2 as it is fully visible in both the passes. It is trivial to see that the object does not collide with any of the objects in NFV .
We now prove that the object does not collide with any object Oj FFV . If j < i, then Oi does not collide with Oj as Oi is fully
visible in the first pass. If j > i, then Oj does not collide with Oi as Oj
FFV .
Similarly, we prove that the Oi does not collide with the objects in SFV
![Page 36: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/36.jpg)
QED
Using Lemmas 3, 4, and 5, it comes up with an efficient culling alg.
The first pass and second pass of CULLIDE are modified as follows…
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First Pass
For each object Oi in PCS, i=1,..,n If Oi SFV or Oi NFV , test whether the object
is fully visible using an occlusion query If Oi FFV or Oi NFV , render the object into t
he frame buffer For each object Oi in PCS, i=1,..,n
If Oi SFV or Oi NFV , and the occlusion query determines Oi as fully visible
If Oi SFV , then tag Oi as a member of BFV If Oi NFV , then tag Oi as a member of FFV
![Page 38: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/38.jpg)
Second Pass
For each object Oi in PCS, i=n,..,1 If Oi FFV or Oi NFV , test whether the object
is fully visible using an occlusion query If Oi SFV or Oi NFV , render the object into t
he frame buffer For each object Oi in PCS, i=n,..,1
If Oi FFV or Oi NFV , and the occlusion query determines Oi as fully visible
If Oi FFV , then tag Oi as a member of BFV If Oi NFV , then tag Oi as a member of SFV
![Page 39: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/39.jpg)
Both the passes
1. Objects that are fully visible in both the passes
This subset of objects belonging to NFV are pruned from the PCS(based on Lemma 5)
![Page 40: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/40.jpg)
The first pass
2. Objects that are fully visible in the first pass
NFV: These objects are removed from NFV and placed in FFV
SFV: These objects are removed from the PCS(based on Lemma 4)
FFV: Visibility computations are not performed for these objects in this pass as they are not needed
![Page 41: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/41.jpg)
The second pass
3. Objects that are fully visible in the second pass
NFV: These objects are removed from NFV and placed in SFV
FFV: These objects are removed from the PCS(based on Lemma 3)
SFV: Visibility computations are not performed for these objects in this pass as they are not needed
![Page 42: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/42.jpg)
Improvement
The improved culling algorithm reduces the number of rendering operations and occlusion queries each by sizeof(FFV ∪ SFV ), as compared to CULLIDE
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Collision Detection
1. Compute the PCS at the object level using this improved alg.
Sweep-and-prune on the PCS to compute the overlapping pairs
2. Compute the PCS at the sub-object level and the overlapping pairs
3. Perform exact interference tests between the triangles on the CPU
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Implementation
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Cloth
20K tri., 21 ms/f; X, Z views
![Page 46: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/46.jpg)
Breaking objects
35K,250K tri., 25 ms/f; 3 axes views
![Page 47: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/47.jpg)
Non-rigid objects
25 ms/f; deformable leaves
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Performance
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Cloth Simulation
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Cloth Simulation
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Performance
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Factors
Depth complexity Depend upon the number of objects
that project onto the screen-space Order of rendering
Back-to-front works best Number of views
# of Views increase, smaller PCS
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Advantages
Self-collisions Large number of objects Not perform framebuffer readbacks High image-space resolution Just a few milliseconds (<40ms) deformable, breaking, and non-rigid ge
ometry, as well as polygon-soup models
![Page 54: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/54.jpg)
Disadvantage
No overlap information or the extent of penetration
Limited to image resolution Ignores touching contacts Best when back-to-front rendering Depends on object configurations
and the depth complexity
![Page 55: Quick-CULLIDE: Efficient Inter- and Intra- Object Collision Culling using Graphics Hardware Naga K. Govindaraju, Ming C. Lin, Dinesh Manocha University.](https://reader030.fdocuments.in/reader030/viewer/2022032612/56649ef15503460f94c022e3/html5/thumbnails/55.jpg)
Future Work
Provide proximity computations Including distance and penetration depth c
omputation Explore the new programmability featu
res of GPUs