Сп."Автоматика и информатика", год.28, 1994г., No3, стр.15-19.
This paper discusses the collision detection problem between solids modeled using Archimed geometrical modeling system. Solids are modeled by means of simple primitives and boolean operations between them. Each primitive is a convex solid formed of some plane faces and one quadric surface. This primitive property strongly facilitates the collision detection between primitives and solids made using these primitives. Procedures for collision detection between primitive elements – edges, vertices, faces are developed. They are the grounding of the test for intersection of primitives. This test is fundamental for collision control between the robot and the environment in CINDY simulation system. Measurements of processor time for every test are made.
