Ray shooting amidst convex polytopes in three dimensions

Pankaj K. Agarwal*, Micha Sharir

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review


We consider the problem of ray shooting in a 3-dimensional scene consisting of m (possibly intersecting) convex polyhedra with a total of n faces, i.e., we want to preprocess them into a data structure, so that the first intersection point of a query ray and the given polyhedra can be determined quickly. We present a technique that requires O((mn)2+ε) preprocessing time and storage, and can answer ray shooting queries in O(log n) time. This is a significant improvement over previously known techniques (which require O(n4+ε) space and preprocessing) if m is much smaller than n, which is often the case in practice. We also present a variant of the technique that requires O(n1+ε) space and preprocessing, and answers queries in time O(m1/4n1/2+ε), again a significant improvement over previous techniques when m≪n. Our algorithms also work when the given polyhedra intersect, and also apply to a collection of (possibly intersecting) polyhedral terrains.

Original languageEnglish
Number of pages11
StatePublished - 1993
Externally publishedYes
EventProceedings of the Fourth Annual ACM-SIAM Symposium on Discrete Algorithms - Austin, TX, USA
Duration: 25 Jan 199327 Jan 1993


ConferenceProceedings of the Fourth Annual ACM-SIAM Symposium on Discrete Algorithms
CityAustin, TX, USA


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