Patent ID: 8860766
Filing Date: 2014-10-14
Classification: G05B,G06F,G06T

Abstract:
1. A method, comprising: identifying, utilizing a processor, a first contact normal between a pair of objects at a first position during a simulation; moving the pair of objects from the first position a distance apart along a linear path of the first contact normal, wherein no collision detection is performed during the moving of the pair of objects the distance apart along the linear path of the first contact normal; after moving the pair of objects the distance apart, allowing each of the objects in the pair of objects to perform respective angular and linear motions without interfering with the other object of the pair of objects, wherein no collision detection is performed during the performing of the respective angular and linear motions of the pair of objects; and after allowing the pair of objects to perform the respective angular and linear motions, moving the pair of objects back together along the linear path of the first contact normal used to move the pair of objects the distance apart, wherein collision detection is performed during the moving of the pair of objects back together for identifying whether there is a collision between the pair of objects; wherein in response to identifying that there is a collision, determining one or more contact points and a second contact normal between the pair of objects at a second position.