Fast distance queries with rectangular swept sphere volumes

We present new distance computation algorithms using hierarchies of rectangular swept spheres. Each bounding volume of the tree is described as the Minkowski sum of a rectangle and a sphere, and fits tightly to the underlying geometry. We present accurate and efficient algorithms to build the hierarchies and perform distance queries between the bounding volumes. We also present traversal techniques for accelerating distance queries using coherence and priority directed search. These algorithms have been used to perform proximity queries for applications including virtual prototyping, dynamic simulation, and motion planning on complex models. As compared to earlier algorithms based on bounding volume hierarchies for separation distance and approximate distance computation, our algorithms have achieved significant speedups on many benchmarks