C2A is a continuous collision detection (CCD) library written in C++ for rigid polygon soup models.

The code is written using Visual C++ 9.0 in MS Windows and is not tested on other platforms yet. To run the code, VC++ 9.0 is needed.

C2A depends on PQP.

1. Please download PQP at here.

2. Copy all contents of PQP to a new folder named PQP in the root path.

3. Copy the files PQP.sln and PQP.vcproj into PQP folder.

Only the release mode is supported, if you need debug mode, please change as follow:

1. Properities->C/C++->General->Debug Information Format->Program Database
2. Properities->C/C++->Optimization->Disabled

In ProximityQuery.sln, two projects exist other than PQP:

• CCDDemo: the Demo fucntion for showing how to use C2A.lib.

• C2A: continous collision detection based on PQP soft package, and form C2A.lib The main functions are:

   C2A_Result C2A_Solve(Transform *trans00, 
   					Transform *trans01,  
   					 C2A_Model * obj1_tested,
   					 Transform *trans10, 
   					 Transform *trans11,  
   					 C2A_Model * obj2_tested,
   					 Transform & trans0, 
   					 Transform & trans1, 
   					 PQP_REAL &time_of_contact, 
   					 int& number_of_iteration, 
   					 int & number_of_contact,
   					 PQP_REAL th_ca,
   					 C2A_TimeOfContactResult& dres)
   //which function is used to execute conservative advancment algorithm
   
   PQP_REAL 
   C2A_QueryTimeOfContact(CInterpMotion *objmotion1, 
   					   CInterpMotion *objmotion2,
   					   C2A_TimeOfContactResult *res,  
   					   C2A_Model *o1, 
   					   C2A_Model *o2,
   					   PQP_REAL tolerance_d, 
   					   PQP_REAL tolerance_t, 
   					   int qsize)
   //which function is used to set parameter and call BVTT function for each CA iterative
   
   int 
   C2A_TimeOfContactStep(CInterpMotion *objmotion1, 
   			CInterpMotion *objmotion2, 
   			C2A_TimeOfContactResult *res,
   			PQP_REAL R1[3][3], 
   			PQP_REAL T1[3], 
   			C2A_Model *o1,
   			PQP_REAL R2[3][3], 
   			PQP_REAL T2[3], 
   			C2A_Model *o2,
   			PQP_REAL tolerance_d,
   			PQP_REAL tolerance_t,
   			int qsize)
   //Controlled CA function by BVTT

The result of C2A is saved in result folder under root path.

To run the demo, you need GLUT & OpenGL. Please make sure the Startup project is setup correctly to CCDDemo.

C2A was presented in ICRA 2009 and also publisehd in TVCG 2014. Please visit our website for more details. To cite C2A in your academic research, please use the following bibtex lines:

TVCG 2014:

@ARTICLE{6684141,
  author={Tang, Min and Manocha, Dinesh and Kim, Young J.},
  journal={IEEE Transactions on Visualization and Computer Graphics}, 
  title={Hierarchical and Controlled Advancement for Continuous Collision Detectionof Rigid and Articulated Models}, 
  year={2014},
  volume={20},
  number={5},
  pages={755-766},
  doi={10.1109/TVCG.2013.266}}

ICRA 2009:

@INPROCEEDINGS{5152234,
  author={Tang, Min and Kim, Young J. and Manocha, Dinesh},
  booktitle={2009 IEEE International Conference on Robotics and Automation}, 
  title={C2A: Controlled conservative advancement for continuous collision detection of polygonal models}, 
  year={2009},
  volume={},
  number={},
  pages={849-854},
  doi={10.1109/ROBOT.2009.5152234}}

The project also referenced the follow open sources:

• SWIFT++
• Bullet Physics lib

If you have any questions or find some bugs, please feel free to connect with Min Tang by EMail: [email protected] or [email protected].