3D Continuous Collision Detection, GSoC 2023

[jeffrey-cochran]

Summary

Funded by GSoC this summer, I propose to add collision detection to CGAL in a way that naturally builds on and extends CGAL’s existing AABB-tree functionality. The project will focus on implementing trusted collision-detection methods, which are attested to by their use in projects like the Godot game engine as well as their continued academic propagation through works like Ericson’s “Real-Time Collision Detection” and courses like UT Austin’s “CS395T: Physical Simulation”.

Git Log: cgal-public-dev/gsoc2023-CCD-jeffrey-cochran

0b7177880eb resolved conflict in AABB_traversal_traits.h. merged cgal/master. replaced boost::get<> with std::get_if<>
29d5bb49883 added a bool to enable/disable self-collisions within a mesh
f88361ef189 added white space to prevent incorrect parse of >>
af9e45c2f1e resolved merge
d844e8c567d moved documentation into the source code.
179e4fecdcf moved documentation into the source code.
98805d62ca7 removed sandbox
50f596f0946 finished user manual
5a4eb1333f5 push cmakelists
2dbd47991f9 modified some examples for testing
7b39887e010 finished reference manual documentation
9690581e7cd revert draw_surface_mesh.h
d2d5166fb95 revert aabb pkg description
04f612227df in progress: doc
b6529b992a9 fixed issue with const ref triangle trajectory breaking std::pair
8b5301c16db Merge branch 'gsoc2023-CCD-jeffrey-cochran' of https://github.com/CGAL/cgal-public-dev into gsoc2023-CCD-jeffrey-cochran
c9dfc143c73 documentation edits with sloriot
af35888a20c in progress: documentation
2aad67e81a9 moved some headers to Continuous_collision_detection_3/internal
3e992d6858d begin restructuring in new module
7c517cdc879 rewrote bilinear patch predicates to be filtered
54f19e1b079 merge sloriot modifications
920d7ce36e7 Merge branch 'gsoc2023-CCD-jeffrey-cochran' of https://github.com/CGAL/cgal-public-dev into gsoc2023-CCD-jeffrey-cochran
4a52b3214f8 turn on culling
9fc23ad936e merged collision functions into a single file
2e15507fb3d made the has_collision demo sexier
041660ca7e0 modified triangle test boundary to cull when not needed
12598a2c636 --amend
a0fe0ff5225 --amend
dd331333d8c update ignore
5187e781e6c set up working example to demonstrate nontrivial collision
d06bebf1413 switch to exact predicate kernel
e61679c8cfe point-triangle collision test. in progress: triangle-triangle debug
07809996e8e added handling for planar edge cases
fcfadf6367b in progress: fixing collision edge cases
9bca2634004 in progress: fix mapping
8f425a53893 Merge branch 'gsoc2023-CCD-jeffrey-cochran' of github.com:CGAL/cgal-public-dev into gsoc2023-CCD-jeffrey-cochran
ebead037599 refactored so that collisions are phrased in terms of the relevant geometric objects (e.g., Segment_3 Segment_3 collision)
8d1362bd6f1 Merge branch 'gsoc2023-CCD-jeffrey-cochran' of github.com:CGAL/cgal-public-dev into gsoc2023-CCD-jeffrey-cochran
d1aff50b360 Merge branch 'gsoc2023-CCD-jeffrey-cochran' of github.com:CGAL/cgal-public-dev into gsoc2023-CCD-jeffrey-cochran
d4dba6fe47e begin fix bilinear collide
c67bdd7ed0d begin fix bilinear collide
81a854dfdd4 added AABB_tree functionality all_self_intersections()
6245a9dcf76 now returns collision candidates as Collision_candidate struct
6708a5e645c fix move collision_mesh assignment/constructor
7a209f46f61 refactor Collision_mesh to derive from Surface_mesh
9e507c2d00e fix aabb_traits
9d03936f770 modify for collision candidates
9eab162f8d5 clean up
8a3ff4f13ab mess around with tree intersections
6da65a100f4 Merge branch 'master' of github.com:CGAL/cgal into gsoc2023-CCD-jeffrey-cochran
8d9b95b53dc mess around with bgl
bae4fa41930 home
a7f8513ba43 move
fb45bd2fe1e update aabb traits
6320ec9b8c7 update aabb traits
9ea316f88cc temp
ed03b10f48e interval check for point on bilateral patch
40c922c9990 fiddling with do_intersect
75c0486ed22 more bridson
43fa1e9c9df bridson zero func
b752d11e6f0 fiddle with bilinear patch
4d36710d0f2 fiddle with qt5
221b28b80e8 structure
f1352136acb restore
66691bcac93 test