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Proceedings of Graphics Interface 2003, Halifax, Nova Scotia, Canada, Canada, 11 - 13 June 2003, 247-256, In this paper we reconsider pairwise collision detection for rigid motions using a k-DOP bounding volume hierarchy. This data structure is particularly attractive because it is equally efficient for rigid motions as for arbitrary point motions (deformations). We propose a new efficient realignment algorithm, which produces tighter results compared to all known algorithms. It can be implemented easily in software and in hardware. Using this approach we try to show, that k-DOP bounding volumes can keep up with the theoretically more efficient oriented bounding boxes (OBBs) in parallel-close-proximity situations.

Proceedings of the Graphics Interface 1998 Conference, Vancouver, BC, Canada, 18 - 20 June 1998, 125-132, Computer animations often lack the subtle environmental changes that should occur due to the actions of the characters. Squealing car tires usually leave no skid marks, airplanes rarely leave jet trails in the sky, and most runners leave no footprints. In this paper, we describe a simulation model of ground surfaces that can be deformed by the impact of rigid body models of animated characters. To demonstrate the algorithms, we show footprints made by a runner in sand, mud, and snow as well as bicycle tire tracks, a bicycle crash, and a falling runner. The shapes of the footprints in the three surfaces are quite different, but the effects were controlled through only five essentially independent parameters. To assess the realism of the resulting motion, we compare the simulated footprints to video footage of human footprints in sand.

Proceedings of Graphics Interface '82, Toronto, Ontario, Canada, 17 - 21 May 1982, 303-311