kDOP
A k-DOP, or k-directional oriented polytope, is a convex bounding volume used in computer graphics and collision detection to efficiently prune potential intersections. It is defined as the intersection of half-spaces bounded by planes whose normals come from a fixed set of directions. For each chosen direction, the object’s points have a minimum and a maximum projection; these extremal values determine the two bounding planes along that direction. If there are m directions, the k-DOP has k = 2m faces.
Construction and directions: A set D = {d1, …, dm} of m unit direction vectors is fixed for
Use in collision detection: In broad-phase culling, two k-DOPs are tested by comparing their projections onto
Trade-offs and relationship to other volumes: k-DOPs offer tighter bounds than axis-aligned bounding boxes for many