noncollision

Noncollision is the state or condition in which objects do not intersect or touch each other within a given space, configuration, or trajectory. In geometry, two sets are noncolliding if they are disjoint, meaning their interiors, exteriors, or surfaces do not share common points. In dynamics and simulation, noncollision means that objects maintain a separation that prevents contact during motion.

Collision detection and avoidance are the computational problems and techniques used to enforce noncollision. Detecting whether two objects intersect is often followed by strategies to modify motion or provide a safe path. Methods typically separate into broad-phase checks, which quickly filter out unlikely pairs using bounding volumes, and narrow-phase checks, which perform precise intersection tests. Continuous collision detection considers motion over time to prevent tunneling, where objects pass through each other between discrete samples.

In robotics and autonomous systems, noncollision constraints are integral to planning and control. Configuration-space representations transform spatial obstacles into constraints in the robot’s parameter space, enabling planners to compute collision-free paths. Common planning approaches include sampling-based methods and trajectory optimization, both of which strive to maintain noncollision with obstacles and other agents.

Applications of noncollision concepts span robotics, autonomous vehicles, industrial automation, computer graphics, and video games. In physics engines and animation, noncollision underpins reliable simulations by avoiding interpenetration and managing contact when it is unavoidable. Limitations include the computational cost for complex scenes, handling dynamic and nonconvex obstacles, and balancing safety margins with performance. See also collision detection, collision avoidance, configuration space, and trajectory optimization.