TY - GEN

T1 - Computing the penetration depth of two convex polytopes in 3d

AU - Agarwal, Pankaj K.

AU - Guibas, Leonidas J.

AU - Har-Peled, Sariel

AU - Rabinovitch, Alexander

AU - Sharir, Micha

N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 2000.

PY - 2000

Y1 - 2000

N2 - Let A and B be two convex polytopes in R3 with m and n facets, respectively. The penetration depth of A and B, denoted as π(A, B), is the minimum distance by which A has to be translated so that A and B do not intersect. We present a randomized algorithm that computes π(A,B) in O(m3/4+ɛn3/4+ɛ + m1+ɛ + n1+ɛ) expected time, for any constant ɛ > 0. It also computes a vector t such that ||t|| = π(A,B) and int(A + t) ⊓ B = θ. We show that if the Minkowski sum B ⊗ (—A) has K facets, then the expected running time of our algorithm is O (K1/2+ɛm1/4n1/4 + m1+ɛ + n1+ɛ), for any ɛ > 0. We also present an approximation algorithm for computing π(A,B). For any δ > 0, we can compute, in time O(m + n + (log2(m + n))/δ), a vector t such that ||t|| < (1 + δ)π(A, B) and int(A +t) ⊓ B = θ. Our result also gives a δ-approximation algorithm for computing the width of A in time O(n + (log2 n)/δ), which is simpler and slightly faster than the recent algorithm by Chan.

AB - Let A and B be two convex polytopes in R3 with m and n facets, respectively. The penetration depth of A and B, denoted as π(A, B), is the minimum distance by which A has to be translated so that A and B do not intersect. We present a randomized algorithm that computes π(A,B) in O(m3/4+ɛn3/4+ɛ + m1+ɛ + n1+ɛ) expected time, for any constant ɛ > 0. It also computes a vector t such that ||t|| = π(A,B) and int(A + t) ⊓ B = θ. We show that if the Minkowski sum B ⊗ (—A) has K facets, then the expected running time of our algorithm is O (K1/2+ɛm1/4n1/4 + m1+ɛ + n1+ɛ), for any ɛ > 0. We also present an approximation algorithm for computing π(A,B). For any δ > 0, we can compute, in time O(m + n + (log2(m + n))/δ), a vector t such that ||t|| < (1 + δ)π(A, B) and int(A +t) ⊓ B = θ. Our result also gives a δ-approximation algorithm for computing the width of A in time O(n + (log2 n)/δ), which is simpler and slightly faster than the recent algorithm by Chan.

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U2 - 10.1007/3-540-44985-X

DO - 10.1007/3-540-44985-X

M3 - Conference contribution

AN - SCOPUS:84956864746

SN - 3540676902

SN - 9783540676904

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 328

EP - 338

BT - Algorithm Theory - SWAT 2000 - 7th Scandinavian Workshop on Algorithm Theory, 2000, Proceedings

A2 - Halldórsson, Magnús M.

PB - Springer

T2 - 7th Scandinavian Workshop on Algorithm Theory, SWAT 2000

Y2 - 5 July 2000 through 7 July 2000

ER -