Ray shooting is a well-studied problem in computer graphics. It also occurs in robotics as a collision detection problem in 3-D object space or a contact force optimization problem in 6-D wrench space. However, the ray-shooting algorithms derived in computer graphics are limited to 3-D polyhedra and not suited for general convex sets in high-dimensional space. This paper discusses several general ray-shooting algorithms and their applications to these problems in robotics.
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