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This paper presents a general method for exact distance computation between convex objects represented as intersections of implicit surfaces. Exact distance computation algorithms are particularly important for applications involving objects that make intermittent contact, such as in dynamic simulations and in haptic interactions. They can also be used in the narrow phase of hierarchical collision...
In this paper, we present an interior point approach to exact distance computation between convex objects represented as intersections of implicit surfaces. The implicit surfaces considered include planes (polyhedra), quadrics, and generalizations of quadrics including superquadrics and hyperquadrics, as well as intersections of these surfaces. Exact distance computation algorithms are particularly...
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