{"id":"https://openalex.org/W2032507921","doi":"https://doi.org/10.1111/1467-8659.t01-1-00587","title":"Fast Continuous Collision Detection between Rigid Bodies","display_name":"Fast Continuous Collision Detection between Rigid Bodies","publication_year":2002,"publication_date":"2002-09-01","ids":{"openalex":"https://openalex.org/W2032507921","doi":"https://doi.org/10.1111/1467-8659.t01-1-00587","mag":"2032507921"},"language":"en","primary_location":{"id":"doi:10.1111/1467-8659.t01-1-00587","is_oa":false,"landing_page_url":"https://doi.org/10.1111/1467-8659.t01-1-00587","pdf_url":null,"source":{"id":"https://openalex.org/S67831204","display_name":"Computer Graphics Forum","issn_l":"0167-7055","issn":["0167-7055","1467-8659"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computer Graphics Forum","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/inria-00390356/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069484428","display_name":"St\u00e9phane Redon","orcid":"https://orcid.org/0000-0002-2618-8975"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2799744481","display_name":"Medical Protective","ror":"https://ror.org/00jhae347","country_code":"US","type":"company","lineage":["https://openalex.org/I2799744481"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"St\u00e9phane Redon","raw_affiliation_strings":["*\n            i3D - INRIA - France, [email protected] , [email protected]","INRIA \u2013 Rocquencourt#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"*\n            i3D - INRIA - France, [email protected] , [email protected]","institution_ids":["https://openalex.org/I2799744481"]},{"raw_affiliation_string":"INRIA \u2013 Rocquencourt#TAB#","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067136188","display_name":"Abderrahmane Kheddar","orcid":"https://orcid.org/0000-0001-9033-9742"},"institutions":[{"id":"https://openalex.org/I88467170","display_name":"Universit\u00e9 d'\u00c9vry Val-d'Essonne","ror":"https://ror.org/00e96v939","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954","https://openalex.org/I88467170"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Abderrahmane Kheddar","raw_affiliation_strings":["\u2020\n            CEMIF-SC - Universite\u0301 d'Evry - France, [email protected]","Centre d'Etude M\u00e9canique d'Ile-de-France - Groupe Syst\u00e8mes Complexes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u2020\n            CEMIF-SC - Universite\u0301 d'Evry - France, [email protected]","institution_ids":["https://openalex.org/I88467170"]},{"raw_affiliation_string":"Centre d'Etude M\u00e9canique d'Ile-de-France - Groupe Syst\u00e8mes Complexes","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085814339","display_name":"Sabine Coquillart","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2799744481","display_name":"Medical Protective","ror":"https://ror.org/00jhae347","country_code":"US","type":"company","lineage":["https://openalex.org/I2799744481"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Sabine Coquillart","raw_affiliation_strings":["*\n            i3D - INRIA - France, [email protected] , [email protected]","INRIA \u2013 Rocquencourt#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"*\n            i3D - INRIA - France, [email protected] , [email protected]","institution_ids":["https://openalex.org/I2799744481"]},{"raw_affiliation_string":"INRIA \u2013 Rocquencourt#TAB#","institution_ids":["https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":3710,"currency":"USD","value_usd":3710},"apc_paid":null,"fwci":9.6956,"has_fulltext":true,"cited_by_count":251,"citation_normalized_percentile":{"value":0.98465961,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"21","issue":"3","first_page":"279","last_page":"287"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.9092206954956055},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.801501989364624},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5905553102493286},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.5731098651885986},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5161391496658325},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.4705560505390167},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics","score":0.4609883427619934},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.458017498254776},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.45477837324142456},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4505942761898041},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4040336310863495},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3665851056575775},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1384529173374176}],"concepts":[{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.9092206954956055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.801501989364624},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5905553102493286},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.5731098651885986},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5161391496658325},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.4705560505390167},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.4609883427619934},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.458017498254776},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.45477837324142456},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4505942761898041},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4040336310863495},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3665851056575775},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1384529173374176},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1111/1467-8659.t01-1-00587","is_oa":false,"landing_page_url":"https://doi.org/10.1111/1467-8659.t01-1-00587","pdf_url":null,"source":{"id":"https://openalex.org/S67831204","display_name":"Computer Graphics Forum","issn_l":"0167-7055","issn":["0167-7055","1467-8659"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computer Graphics Forum","raw_type":"journal-article"},{"id":"pmh:oai:HAL:inria-00390356v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00390356","pdf_url":"https://inria.hal.science/inria-00390356/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computer Graphics Forum, 2002, 21 (3), pp.279-287. ⟨10.1111/1467-8659.t01-1-00587⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.125.7125","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.125.7125","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robotics.stanford.edu/~latombe/cs326/2004/class4/redon.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.19.5430","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.19.5430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-rocq.inria.fr/~redon/papers/eg2002.ps","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.411.3363","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.411.3363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hal.archives-ouvertes.fr/docs/00/39/03/56/PDF/EG2002.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00390356v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00390356","pdf_url":"https://inria.hal.science/inria-00390356/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computer Graphics Forum, 2002, 21 (3), pp.279-287. ⟨10.1111/1467-8659.t01-1-00587⟩","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320313934","display_name":"Institut national de recherche en informatique et en automatique (INRIA)","ror":"https://ror.org/02kvxyf05"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2032507921.pdf","grobid_xml":"https://content.openalex.org/works/W2032507921.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W97826176","https://openalex.org/W107470478","https://openalex.org/W232012359","https://openalex.org/W1566274311","https://openalex.org/W1567041138","https://openalex.org/W1602382704","https://openalex.org/W1877294407","https://openalex.org/W1969313861","https://openalex.org/W1991912971","https://openalex.org/W1999250663","https://openalex.org/W2007131411","https://openalex.org/W2012276876","https://openalex.org/W2038342396","https://openalex.org/W2065283065","https://openalex.org/W2082362503","https://openalex.org/W2094539937","https://openalex.org/W2099145784","https://openalex.org/W2101766358","https://openalex.org/W2101779589","https://openalex.org/W2105333183","https://openalex.org/W2120249119","https://openalex.org/W2123703543","https://openalex.org/W2126539456","https://openalex.org/W2130999229","https://openalex.org/W2144415816","https://openalex.org/W2162954521","https://openalex.org/W2166316739","https://openalex.org/W2168507359","https://openalex.org/W2169964384","https://openalex.org/W2183881462","https://openalex.org/W2289065784","https://openalex.org/W2623660146","https://openalex.org/W4200501717","https://openalex.org/W4206400169","https://openalex.org/W4230265761","https://openalex.org/W4232803353","https://openalex.org/W4236573885","https://openalex.org/W4249516290","https://openalex.org/W4405360421"],"related_works":["https://openalex.org/W2361971697","https://openalex.org/W2003273776","https://openalex.org/W2532377291","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W4379525781","https://openalex.org/W1987135480"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,111],"fast":[4],"continuous":[5,92,149],"collision":[6,17,93,103],"detection":[7,18,94,104],"technique":[8],"for":[9,60,96,131],"polyhedral":[10],"rigid":[11,100],"bodies.":[12],"As":[13],"opposed":[14],"to":[15,88,110,124,136,156],"most":[16],"techniques,":[19],"the":[20,23,34,83,121],"computation":[21],"of":[22,33,138,140],"first":[24],"contact":[25],"time":[26],"between":[27,133],"two":[28],"objects":[29,42,49,62,68,129],"is":[30,58,74],"inherently":[31],"part":[32],"algorithm.":[35],"The":[36,56,102],"method":[37,57,84],"can":[38,85],"thus":[39],"robustly":[40],"prevent":[41],"interpenetrations":[43],"or":[44,52,98],"collisions":[45],"misses,":[46],"even":[47],"when":[48],"are":[50,117],"thin":[51],"have":[53,106,144],"large":[54],"velocities.":[55],"valid":[59],"general":[61],"(polygon":[63],"soups),":[64],"handles":[65],"multiple":[66],"moving":[67],"and":[69,73,78,152],"acyclic":[70],"articulated":[71],"bodies,":[72],"efficient":[75],"in":[76],"low":[77],"high":[79],"coherency":[80],"situations.":[81],"Moreover,":[82],"be":[86],"used":[87],"speed":[89],"up":[90,135],"existent":[91],"methods":[95],"parametric":[97],"implicit":[99],"surfaces.":[101],"algorithms":[105],"been":[107,145],"successfully":[108],"coupled":[109],"real-time":[112],"dynamics":[113],"simulator.":[114],"Various":[115],"experiments":[116],"conducted":[118],"that":[119],"show":[120],"method's":[122],"ability":[123],"produce":[125],"high-quality":[126],"interaction":[127],"(precise":[128],"positioning":[130],"example)":[132],"models":[134],"tens":[137],"thousands":[139],"triangles,":[141],"which":[142],"couldn't":[143],"performed":[146],"with":[147],"previous":[148],"methods.":[150],"Categories":[151],"Subject":[153],"Descriptors":[154],"(according":[155],"ACM":[157],"CCS):":[158],"I.3.7":[159],"[Computer":[160],"Graphics]:":[161],"Animation":[162],"-":[163],"Virtual":[164],"Reality":[165]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":13},{"year":2012,"cited_by_count":13}],"updated_date":"2026-06-22T06:23:43.705686","created_date":"2025-10-10T00:00:00"}