Hole in the Wall: Finding a Fitting Position Using a Configuration Space and Probabilistic Roadmap

By: Ty Trimble

Project Description

My final project is a model that uses a configuration space and probabilistic roadmap to find a position that allows it to pass through a hole in the wall. The model has multiple body parts with independent joints, and for every hole, thousands of potential positions are generated. If they are valid positions (they don't lead to body parts colliding with each other), they are searched through to find one that passes through the hole. Self-collisions are checked using the Separating Axis Theorem, and whether a body part is contained within the hole is determined by checking if each of its corners is within the hole. A body part is green if it will pass through the hole, and red if it will not. The final position, or path to the final position, is animated using an interpolation of Catmull-Rom splines.

Presentation Video

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