Convex Collision-Free Regions

Published July 30, 2026 · Category: Robotics

Overview

arXiv:2607.26901v1 Announce Type: cross Abstract: Convex Collision-Free Regions (CCFR) is a collision handling method that explicitly represents local convex feasible regions to enforce non-penetration. Each feasible region is constructed from surrounding mesh primitive configurations, including edge-edge and vertex-face interactions. The resulting convex region represents admissible non-penetrating vertex displacements at the current configuration. Existing collision handling methods for deformable body simulation have largely relied on implicit representations of feasibility, resulting in either compromised robustness for secondary collisions and codimensional contacts or tight coupling with specific nonlinear optimization schemes. Our formulation constructs feasible regions independently for each vertex, defined prior to penetration, inherently accounts not only for primary collisions but also for secondary collisions and codimensional contacts, enabling highly scalable and parallelizable collision handling. These feasible regions encode geometric non-penetration constraints independently of physical contact response models. CCFR does not rely on nonlinear optimization and is compatible with simulation frameworks such as Extended Position-Based Dynamics (XPBD) that do not explicitly maintain interior feasibility during iterative updates. The effectiveness of CCFR is demonstrated across cloth, hair, wire, particle systems, and codimensional contact scenarios, showing versatile and efficient collision handling.

Source

Originally published at arxiv.org.

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