Selfcollision

Self-collision refers to a phenomenon where a physical object or a character in a simulation or animation collides with itself. This can occur in various contexts, including computer graphics, robotics, and physical systems. In animation and game development, self-collision is often an undesirable artifact that can break the illusion of realism. For instance, a character's limb might pass through its own torso or other parts of its body, leading to unnatural visual distortions.

Preventing self-collision is a significant challenge in character animation and physics simulation. Techniques used to address this issue include collision detection algorithms that specifically check for intersections between different parts of the same object. These algorithms can be computationally intensive, as they require comparing numerous points or surfaces within a single entity. Advanced methods employ spatial partitioning and bounding volume hierarchies to optimize the detection process.

In robotics, self-collision avoidance is crucial for safe and efficient operation. Robots, especially those with complex articulated arms or limbs, must be programmed to ensure that their moving parts do not interfere with each other or their own base structure. This requires careful path planning and real-time monitoring of joint positions and manipulator configurations. Failure to prevent self-collision can lead to damage to the robot itself or its surroundings. The concept also extends to the simulation of deformable objects, where internal stresses and deformations can lead to self-intersection if not properly managed.