GitHub - mikolalysenko/Collisions: Fast collision detection via group morphology

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.gitignore		.gitignore
README		README
diff.png		diff.png
fourier_obstacle.py		fourier_obstacle.py
make_shapes.py		make_shapes.py
misc.py		misc.py
polar.py		polar.py
rigid_body.py		rigid_body.py
se2.py		se2.py
shape1.png		shape1.png
shape2.png		shape2.png
shape3.png		shape3.png
shape4.png		shape4.png
shape5.png		shape5.png
test1.png		test1.png
test2.png		test2.png
test_f.py		test_f.py
test_images.py		test_images.py
visualize.py		visualize.py

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Experimental Fourier based collision detection and rigid body dynamics

This project is an application of some of the more concrete aspects of group 
morphology.  In this code, the non-penetration constraint for two rigid bodies
is modeled as a holonomic constraint on their configurations.  We generate such
a constraint by convolving the indicator functions of their respective sets
together.  Impulse response forces are computed by taking the gradient of this
convolution map.


Results of this research will appear in an upcoming paper.