Fast Evaluation of Smooth Distance Constraints on Co-dimensional Geometry
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Technical Paper
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Research & Education
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DescriptionWe present a new smooth distance function, based on LogSumExp, for co-dimensional geometry. Novel blending weights and modified Barnes-Hut acceleration ensure our method is efficient and conservatively approximates the true distance. This enables new applications, such as direct, co-dimensional rigid body simulation, using unprocessed lidar data.