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Introduction To GJK: Computing and Software Department, Mcmaster University

This document provides an introduction and overview of the GJK algorithm for computing distances between convex shapes. It covers the key concepts and terminology used in GJK like support points, simplices and convex hulls. The document also explains how to apply GJK to find the distance between two convex objects using Minkowski differences.

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Sorin Iordache
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47 views37 pages

Introduction To GJK: Computing and Software Department, Mcmaster University

This document provides an introduction and overview of the GJK algorithm for computing distances between convex shapes. It covers the key concepts and terminology used in GJK like support points, simplices and convex hulls. The document also explains how to apply GJK to find the distance between two convex objects using Minkowski differences.

Uploaded by

Sorin Iordache
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Computing and Software Department, McMaster University

Introduction to GJK
John McCutchan

November 9, 2006

Mccutchan: Introduction to GJK(slide 1), 1


Introduction

◮ Introduction to GJK
◮ Terminology
◮ Algorithm in detail
◮ Example
◮ Minkowski Difference (GJK with two convex objects)
◮ Polyhedra Support Function
◮ Sphere Support Function
◮ Cylinder Support Function
◮ Transformation Support Function
◮ Computing P of minimum norm in CH(Q) and reducing Q
◮ References

Mccutchan: Introduction to GJK(slide 2), 2


Introduction to GJK

Given two convex shapes


◮ Computes distance d
◮ Can also compute closest pair of points PA and PB

Mccutchan: Introduction to GJK(slide 3), 3


Terminology – Support Point

Supporting (extreme) point P for direction d returned by support


mapping function Support(d)

Mccutchan: Introduction to GJK(slide 4), 4


Terminology – Simplex

Simplex

Mccutchan: Introduction to GJK(slide 5), 5


Terminology – Convex Hull

Mccutchan: Introduction to GJK(slide 6), 6


Algorithm in detail

◮ 1. Initialize simplex set Q with up to d+1 points from C (in d


dimensions)
◮ 2. Compute point P of minimum norm in CH(Q)
◮ 3. If P is the origin, exit; return 0.0;
◮ 4. Reduce Q to the smallest subset Q’ of Q, such that P in
CH(Q’)
◮ 5. Let V = Support(-P)
◮ 6. If V no more extreme in direction -P than P itself, exit;
return length(P)
◮ 7. Add V to Q. Go to step 2

Mccutchan: Introduction to GJK(slide 7), 7


Example 1/10
Input: Convex shape C

Mccutchan: Introduction to GJK(slide 8), 8


Example 2/10

1. Initialize simplex set Q with up to d+1 points from C (in d


dimensions)
Q = [Q1, Q0]

Mccutchan: Introduction to GJK(slide 9), 9


Example 3/10

2. Compute point P of minimum norm in CH(Q)

Mccutchan: Introduction to GJK(slide 10), 10


Example 4/10

3. If P is the origin, exit; return 0.0;


4. Reduce Q to the smallest subset Q’ of Q, such that P in CH(Q’)
Q = [Q1, Q0]

Mccutchan: Introduction to GJK(slide 11), 11


Example 5/10

5. Let V = Support(-P)

Mccutchan: Introduction to GJK(slide 12), 12


Example 6/10

6. If V no more extreme in direction -P than P itself, exit; return


length(P)
7. Add V to Q, go to step 2
Q = [Q1, Q0, V ]

Mccutchan: Introduction to GJK(slide 13), 13


Example 7/10

2. Compute point P of minimum norm in CH(Q)


Q = [Q1, Q0, V ]

Mccutchan: Introduction to GJK(slide 14), 14


Example 8/10

3. If P is the origin, exit; return 0.0;


4. Reduce Q to the smallest subset Q’ of Q, such that P in CH(Q’)
Q = [Q3]

Mccutchan: Introduction to GJK(slide 15), 15


Example 9/10

5. Let V = Support(-P)

Mccutchan: Introduction to GJK(slide 16), 16


Example 10/10

6. If V no more extreme in direction -P than P itself, exit; return


length(P)

Mccutchan: Introduction to GJK(slide 17), 17


Minkowski Difference (GJK with two convex objects)

◮ Problem: How do we handle two convex objects, A and B?


◮ Solution: Use Minkowski Difference of A and B.

Mccutchan: Introduction to GJK(slide 18), 18


Minkowski Sum

Mccutchan: Introduction to GJK(slide 19), 19


Minkowski Sum

MinkowskiSum(A, B) = a + b : a ∈ A, b ∈ B
MinkowskiDifference(A, B) = MinkowskiSum(A, −B)
MinkowskiDifference(A, B) = a − b : a ∈ A, b ∈ B

Mccutchan: Introduction to GJK(slide 20), 20


Minkowski Difference
◮ What happens to points in A and B that are overlapping when
you take the minkowski difference?
◮ They are mapped to the origin.

Mccutchan: Introduction to GJK(slide 21), 21


Minkowski Difference

◮ So, A and B are intersecting iff MinkowskiDifference(A,B)


contains the origin!
◮ The algorithm can stay the same, we just need to change the
support point function to compute the Minkowski Difference
◮ MinkowskiDiffSupport(A,B,d) = A.Support(d) -
B.Support(-d)

Mccutchan: Introduction to GJK(slide 22), 22


Support Point Functions – Polyhedra

Given: C – A convex hull of points

Support(d) = max(d · p : p ∈ C )

Mccutchan: Introduction to GJK(slide 23), 23


Support Point Functions – Sphere

Given: Sphere centered at c with radius r

d
Support(d) = c + r
||d||

Mccutchan: Introduction to GJK(slide 24), 24


Support Point Functions – Cylinder

Given: Cylinder centered at c and whose central axis is spanned by


the unit vector u. Let the radius of the cylinder be r and the half
height be n. As well, Let w = d − (u · d)u be the component of d
orthogonal to u.
If w 6= 0:
w
Support(d) = c + sign(u · d)nu + r
||w ||

else:
Support(d) = c + sign(u · d)nu

Mccutchan: Introduction to GJK(slide 25), 25


Support Point Functions – Transformation

Given: T (x) = Bx + c Where B is the rotation matrix’s basis and


c is the translation. SupportC is the support function of the
untransformed convex object.

Support(SupportC , d) = T (SupportC (B T d))

Mccutchan: Introduction to GJK(slide 26), 26


Computing P of minimum norm in CH(Q’) and reducing Q
to Q’

◮ Overview of affine hulls and convex hulls


◮ Equivelance of affine and convex hulls
◮ Finding closest point on affine hull to origin
◮ Finding smallest Q’ where P is in CH(Q’)

Mccutchan: Introduction to GJK(slide 27), 27


Affine and Convex Hulls

◮ Affine Hull: AH(S) = λ1 x1 + λ2 x2 + ... + λk xk |xi ∈ S, λi ∈ R


◮ i = 1, ..., k, λ1 + λ2 + ...λk = 1, k = 1, 2, ...
◮ Convex Hull: CH(S) = λ1 x1 + λ2 x2 + ... + λk xk |xi ∈ S, λi ∈ R
◮ i = 1, ..., k, λ1 + λ2 + ...λk = 1, k = 1, 2, ..., λi >= 0
The point P closest to the origin is defined
Pn as a convex
combination
Pn of the points in Q. P = i =1 λi xi where
i =1 λi = 1.0 and λi ≥ 0 Since we are looking for the smallest Q’
that contains P we can add another restriction: λ > 0 Now we are
looking for Q ′ = xi : λi > 0

Mccutchan: Introduction to GJK(slide 28), 28


Equivelance of affine and convex hulls

If we can find a set Q ′ = xi : i ∈ Y for which i ∈ Y , λi > 0.0 in


X X
AH(Q ′ ) = λi xi , λi = 1.0
i ∈Y i ∈Y

and for all j ∈


/ Y , λj <= 0.0 in
X X
AH(Q ′ ∪ Xj ) = λi xi , λi = 1.0
i ∈Y ∪j i ∈Y ∪j

For such a set Q ′ we have P(AH(Q ′ )) = P(CH(Q ′ ))

Mccutchan: Introduction to GJK(slide 29), 29


Finding Q’

◮ You find Q’ by iterating over all subsets of Q and checking if


they fit the two previous conditions.
◮ Need to compute all of the λi terms for all subsets

Mccutchan: Introduction to GJK(slide 30), 30


Closest point to origin on affine hull of triangle (2-simplex)

◮ Affine hull of a triangle is plane containing the triangle vertices


◮ We need to find a point P = λ1 x1 + λ2 x2 + λ3 x3
◮ P will be closest to the origin if the vector from the origin to
P is perpendicular to the plane
◮ In other words when P is perpendicular to the triangles edges
◮ Two arbitrary edges are x1 x2 and x1 x3 we want x1 x2 · P = 0
and x1 x3 · P = 0
◮ If we substitute λ1 x1 + λ2 x2 + λ3 x3 for P with both edges we
get:

Mccutchan: Introduction to GJK(slide 31), 31


Closest point to origin on affine hull of triangle (2-simplex)

 
1 1 1
A = (x2 − x1 ) · x1 + (x2 − x1 ) · x2 + (x2 − x1 ) · x3 
(x3 − x1 ) · x1 + (x3 − x1 ) · x2 + (x3 − x1 ) · x3

b = [1, 0, 0]
x = [λ1 , λ2 , λ3 ]

Mccutchan: Introduction to GJK(slide 32), 32


Johnson’s Distance sub algorithm

In general:
 
1 ... 1
 (x2 − x1 ) · x1 ... (x2 − x1 ) · xm 
A= 
 ... ... 
(xm − x1 ) · x1 ... (xm − x1 ) · xm

b = [1, 0, ..., 0]
x = [λ1 , ..., λm ]

Mccutchan: Introduction to GJK(slide 33), 33


Johnson’s Distance sub algorithm

◮ 1. Need to solve Ax = b for every subset of Q


◮ 2. Search for smallest Q ′ which satisfies above two conditions
3. Q = Q ′ and P = i ∈Q ′ λi xi
P
◮

Mccutchan: Introduction to GJK(slide 34), 34


Johnson’s Distance sub algorithm

◮ How can all of the Ax = b systems be solved efficiently?


◮ Gino: Cramers Rule
◮ McCutchan: Use Maple/Matlab to precompute generic
λ = A−1 b for simplex size of 2,3,4
◮ Gino’s is faster but McCutchan’s is simple and obvious.
◮ GJK is already so fast and O(1) that speed difference not
noticeable on modern machines

Mccutchan: Introduction to GJK(slide 35), 35


Alternative way to find Q’

◮ Look at the problem geometrically


◮ Use voronoi region checks to find which part of simplex the
origin is in.
◮ Solve single set of equations once proper sub simplex has been
found.
◮ Pros: Most efficient and Intuitive way of working with GJK.
◮ Cons: May be floating point issues in using two different
mathematical formulations. One for determining the sub
simplex and the other for solving for the lambda values.

Mccutchan: Introduction to GJK(slide 36), 36


References

◮ Christer Ericson’s Real-time Collision Detection


◮ Christer Ericson’s Sigraph slides on GJK
◮ Gino Van Den Bergen’s Collision Detection in interactive 3D
environments

Mccutchan: Introduction to GJK(slide 37), 37

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