{"id":"https://openalex.org/W2032250274","doi":"https://doi.org/10.1145/1278780.1278800","title":"Contact trees","display_name":"Contact trees","publication_year":2007,"publication_date":"2007-08-05","ids":{"openalex":"https://openalex.org/W2032250274","doi":"https://doi.org/10.1145/1278780.1278800","mag":"2032250274"},"language":"en","primary_location":{"id":"doi:10.1145/1278780.1278800","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1278780.1278800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM SIGGRAPH 2007 sketches","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056691897","display_name":"Danny M. Kaufman","orcid":"https://orcid.org/0009-0000-2864-2089"},"institutions":[{"id":"https://openalex.org/I4210096112","display_name":"Rutgers Sexual and Reproductive Health and Rights","ror":"https://ror.org/00rcvgx40","country_code":"NL","type":"other","lineage":["https://openalex.org/I4210096112"]},{"id":"https://openalex.org/I4210123151","display_name":"R\u00fctgers (Germany)","ror":"https://ror.org/02wmkbh90","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210123151"]},{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]},{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["CA","DE","NL","US"],"is_corresponding":true,"raw_author_name":"Danny M. Kaufman","raw_affiliation_strings":["University of British Columbia and Rutgers University"],"affiliations":[{"raw_affiliation_string":"University of British Columbia and Rutgers University","institution_ids":["https://openalex.org/I4210123151","https://openalex.org/I141945490","https://openalex.org/I102322142","https://openalex.org/I4210096112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039112646","display_name":"Shinjiro Sueda","orcid":"https://orcid.org/0000-0003-4656-498X"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Shinjiro Sueda","raw_affiliation_strings":["University of British Columbia"],"affiliations":[{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057504177","display_name":"Dinesh K. Pai","orcid":"https://orcid.org/0000-0002-5115-7230"},"institutions":[{"id":"https://openalex.org/I4210096112","display_name":"Rutgers Sexual and Reproductive Health and Rights","ror":"https://ror.org/00rcvgx40","country_code":"NL","type":"other","lineage":["https://openalex.org/I4210096112"]},{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]},{"id":"https://openalex.org/I4210123151","display_name":"R\u00fctgers (Germany)","ror":"https://ror.org/02wmkbh90","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210123151"]},{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["CA","DE","NL","US"],"is_corresponding":false,"raw_author_name":"Dinesh K. Pai","raw_affiliation_strings":["University of British Columbia and Rutgers University"],"affiliations":[{"raw_affiliation_string":"University of British Columbia and Rutgers University","institution_ids":["https://openalex.org/I4210123151","https://openalex.org/I141945490","https://openalex.org/I102322142","https://openalex.org/I4210096112"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5056691897"],"corresponding_institution_ids":["https://openalex.org/I102322142","https://openalex.org/I141945490","https://openalex.org/I4210096112","https://openalex.org/I4210123151"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.24090139,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"16","last_page":"16"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9872999787330627,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.7852701544761658},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7462464570999146},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6803112030029297},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6680877208709717},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.537990391254425},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4960037171840668},{"id":"https://openalex.org/keywords/collision-response","display_name":"Collision response","score":0.45794931054115295},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44930508732795715},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4485446810722351},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.43829113245010376},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.42080599069595337},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17319560050964355},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15360480546951294},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11521509289741516}],"concepts":[{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.7852701544761658},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7462464570999146},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6803112030029297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6680877208709717},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.537990391254425},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4960037171840668},{"id":"https://openalex.org/C177299277","wikidata":"https://www.wikidata.org/wiki/Q5147505","display_name":"Collision response","level":4,"score":0.45794931054115295},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44930508732795715},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4485446810722351},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.43829113245010376},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.42080599069595337},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17319560050964355},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15360480546951294},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11521509289741516},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/1278780.1278800","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1278780.1278800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM SIGGRAPH 2007 sketches","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W2101275250","https://openalex.org/W2101474995","https://openalex.org/W2237767100"],"related_works":["https://openalex.org/W2359876792","https://openalex.org/W2352442430","https://openalex.org/W2028510469","https://openalex.org/W2187438198","https://openalex.org/W2022014116","https://openalex.org/W2113704264","https://openalex.org/W34616297","https://openalex.org/W2617927417","https://openalex.org/W2257960210","https://openalex.org/W2222808826"],"abstract_inverted_index":{"Algorithms":[0],"for":[1,116],"rigid":[2,40],"body":[3,41],"dynamics":[4],"with":[5],"contact":[6,35,48,53,60,105,107],"are":[7,74],"well":[8],"known,":[9],"but":[10],"challenging":[11],"to":[12,15],"implement":[13],"due":[14],"the":[16,31,97,117],"interplay":[17],"between":[18,99],"large":[19],"time":[20],"steps,":[21],"general":[22],"purpose":[23],"collision":[24,51,77],"detection":[25,78],"packages":[26],"and":[27,50,110,120],"pragmatic":[28],"approximations":[29],"of":[30,68,90,122],"underlying":[32],"inequality":[33],"constrained":[34],"problems.":[36],"While":[37],"research":[38],"on":[39,47],"simulation":[42],"has":[43,55,93],"focused":[44],"heavily":[45],"both":[46],"resolution":[49,61],"detection,":[52],"generation":[54],"essentially":[56],"been":[57,94],"ignored.":[58],"Most":[59],"algorithms":[62],"presume":[63,81],"that":[64,82],"an":[65],"ideal":[66],"set":[67,89],"contacts,":[69],"fully":[70],"characterizing":[71],"system":[72],"constraints,":[73],"available,":[75],"while":[76],"methods":[79],"generally":[80],"their":[83,111],"task":[84],"is":[85,114,125],"finished":[86],"once":[87],"a":[88],"intersecting":[91],"primitives":[92],"identified.":[95],"Bridging":[96],"gap":[98],"these":[100],"domains,":[101],"by":[102,127],"generating":[103],"representative":[104],"samples,":[106],"point":[108],"locations":[109],"associated":[112],"normals,":[113],"crucial":[115],"accuracy,":[118],"robustness":[119],"speed":[121],"simulation.":[123],"This":[124],"highlighted":[126],"two":[128],"observations:":[129]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2016-06-24T00:00:00"}