Intersection Distance Field Collision for GPU

Abstract

We present a framework for finding collision points between objects represented by signed distance fields. Particles are used to sample the region where intersections can occur. The distance field representation is used to project the particles onto the surface of the intersection of both objects. From there information, such as collision normals and intersection depth can be extracted. This allows for handling various types of objects in a unified way. Due to the particle approach, the algorithm is well suited to the GPU.