Octree-based Collision Detection

Merged Nghia Truong requested to merge nghia.truong/iMSTK:OctreeBasedCD into master

Using Octree to detect collision between geometries.

  • Implement OctreeBasedCD class for detecting collisions between meshes
  • Write multiple collision test examples
  • Write unit test for Mesh-Mesh CD
  • Write unit test for PointSet-Mesh CD
  • Write unit test for PointSet-Analytical Geometry
  • Clean-up and squash commits to merge
  • Add an octree as a static member of CollisionDetection class, allowing to share it to detect collision in the derived classes
  • Implement PointSet-Mesh collision detection using Octree
  • Implement Mesh-Mesh collision detection using Octree
  • Add unit tests for PointSet-Mesh and Mesh-Mesh collision detections

Note: The current PBD system is very inefficient and must be improved in future. Having collision data, resolving collisions between PBD objects is still very slow and unstable.



Edited by Nghia Truong

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