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Non-collinear-elimination-based detection method for continuous collision in flexible scene

A collision detection and non-collinear technology, which is applied in the field of continuous collision detection in flexible scenes, can solve problems such as consuming large calculation time, and achieve the effects of high rejection efficiency, good compatibility, and fast detection speed

Inactive Publication Date: 2012-10-03
ZHEJIANG UNIV
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And each element test needs to solve at least one root of a cubic equation, 15 cases need to solve 15 cubic equations and some additional judgment conditions, so this process takes a lot of computing time

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  • Non-collinear-elimination-based detection method for continuous collision in flexible scene
  • Non-collinear-elimination-based detection method for continuous collision in flexible scene
  • Non-collinear-elimination-based detection method for continuous collision in flexible scene

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[0033] In order to describe the present invention more specifically, the continuous collision detection method of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] Such as figure 2 As shown, a continuous collision detection method for flexible scenes based on non-collinear culling includes the following steps:

[0035] (1) Construct the bounding box hierarchy.

[0036] Construct the corresponding 16-DOP bounding box for each triangle in the triangle mesh flexible scene model to be detected, and then establish the bounding box hierarchy of the triangle mesh flexible scene model; when the nth collision detection is performed, the bounding box hierarchy According to the spatial position of each triangle at the time of the nth collision detection, the bottom 16-DOP bounding box in the bounding box hierarchy in the previous collision detection process is reconstructed, and then the last collisi...

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Abstract

The invention discloses a non-collinear-elimination-based detection method for continuous collision in a flexible scene. The method comprises the following steps: (1) establishing a hierarchical structure of a bounding volume; (2) establishing a BVTT (bounding volume test tree), and performing the overlap test of the bounding volume for the BVTT; and (3) performing the accurate collision detection to the triangle after the non-collinear elimination. According to the invention, the corresponding collisions are eliminated in a non-collinearly manner in the accurate collision detection phase, the efficiency of the continuous collision detection is improved due to the high elimination efficiency of the non-collinear elimination detection and fast detection speed, and the times of the accurate collision detection are greatly reduced, so that the coverall speed of the continuous collision detection is greatly increased with very good compatibility.

Description

technical field [0001] The invention belongs to the technical field of computer detection, and in particular relates to a continuous collision detection method for flexible scenes based on non-collinear elimination. Background technique [0002] Continuous collision detection based on triangular meshes is widely used in different technical fields, including robot motion path planning, physical simulation, video games, etc. It uses a uniform linear interpolation trajectory to detect possible collisions between objects between two discrete positions . [0003] At present, the most widely used continuous collision detection method is to use the bounding box hierarchy (BVH), first perform bounding box overlap test on the entire scene, and stop traversing the child nodes of the node when two bounding boxes are detected to be disjoint. Various BVHs, such as Sphere (Sphere) tree, Axis Aligned Bounding Box (AABB) tree, Oriented Bounding Box (OBB) tree, Discrete Oriented Polyhedron ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F11/00
Inventor 杜鹏唐敏童若锋赵杰伊
Owner ZHEJIANG UNIV
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