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References¤

This list records sources that inform implemented collision functionality or a clearly identified planned precise phase. A citation does not imply that every optimization described by the source is implemented.

Implemented foundations¤

  1. Gottschalk, S., Lin, M. C., and Manocha, D. (1996). “OBBTree: A Hierarchical Structure for Rapid Interference Detection.” Proceedings of SIGGRAPH 1996, 171–180. Project publication page. Background for bounding-volume hierarchies and oriented bounding boxes. The current tree uses median splitting, not the paper's complete construction.

  2. Ericson, C. (2005). Real-Time Collision Detection. Morgan Kaufmann. Publisher page. Reference for separating-axis tests, bounding volumes, and BVH traversal.

  3. COMPAS Association. “Brep API.” COMPAS documentation. Defines the backend-neutral BRep interface used by the fast query.

  4. Open CASCADE Technology. “Modeling Algorithms: Boolean Operations.” OCCT documentation. Documents the common-volume operation used to distinguish solid penetration from boundary-only contact.

  5. Open CASCADE Technology. “BRepExtrema_DistShapeShape Class Reference.” OCCT API documentation. Documents the native-shape minimum-distance query used for BRep contact, containment, and tolerance-aware proximity.

  6. Open CASCADE Technology. “BRepExtrema_ShapeProximity Class Reference.” OCCT API documentation. Documents the tessellation-based candidate-face proximity query used by the current COMPAS OCC contact path.

  7. Shapely contributors. “MultiPolygon.” Shapely documentation. Documents the multi-component result type that planar contact intersection must support.

  8. Pan, J., Chitta, S., and Manocha, D. (2012). “FCL: A General Purpose Library for Collision and Proximity Queries.” IEEE International Conference on Robotics and Automation, 3859–3866. Author-hosted paper. Foundation for the triangle BVH collision backend.

  9. Carpentier, J., Montaut, L., and the Coal contributors. “Coal: An Extension of the Flexible Collision Library.” Project repository. Backend used for precise mesh-surface collision and tolerance margins.

  10. Shapely contributors. “line_merge” and “unary_union.” Shapely line merging documentation and union documentation. These topology operations assemble welded mesh-plane segments and combine coplanar triangle polygons in the mesh section backend.

  11. Open CASCADE Technology. “BRepAlgoAPI_Section Class Reference.” OCCT API documentation. Documents the native plane/shape intersection operation used by the BRep section backend.

  12. Open CASCADE Technology. “BOPAlgo_Splitter Class Reference.” OCCT API documentation. Documents the native splitting operation wrapped by COMPAS OCC for retained BRep half-spaces.

  13. Mapbox contributors. “Earcut.” Algorithm repository and Python bindings. Provides the modified ear-clipping implementation used for triangulating polygonal render faces, including faces with holes.

  14. Open CASCADE Technology. “BRepMesh_IncrementalMesh Class Reference.” OCCT API documentation. Documents the native BRep face tessellation used through COMPAS OCC's to_viewmesh infrastructure.

Planned precise phase¤

  1. Möller, T., and Trumbore, B. (1997). “Fast, Minimum Storage Ray-Triangle Intersection.” Journal of Graphics Tools, 2(1), 21–28. Author-hosted paper. The existing ray-triangle primitive follows this method and can support triangle-level queries.