Collision and intersection detection of two ruled surfaces using bracket method

Collision and intersection detection of surfaces is an important problem in computer graphics and robotic engineering. A key idea of our paper is to use the bracket method to derive the necessary and sufficient conditions for the collision of two ruled surfaces. Then the numerical intersection curve can be characterized. The cases for two bounded ruled surfaces are also discussed.

Research highlights
► We propose a new method for collision and intersection problem using the bracket computation.
► The necessary and sufficient conditions for the collision of two ruled surfaces are derived.
► The intersections are presented as the formulas which are easy to be used.
► No implicitization is needed in our method comparing with other papers.
► The exact collision moment can be detected based on our method.