Memory Optimization for Convex Hull Support Point Queries

--This work has been submitted to the IEEE for possible publication. Support point queries are a critical part of many collision detection pipelines, including those for robotics and real-time graphical applications. This paper proposes several memory layout optimizations to speed up support point queries on convex hulls. These methods are implemented and tested on a variety of different hardware models, with a decrease in processing time of up to five times compared to current approaches. The results in this paper can be integrated with existing physics libraries with minimal effort. Interest in real-time robotic path planning is increasing as robotic systems become more ubiquitous and flexible, and with this advent comes the need for computationally efficient real-time collision modeling.