Curved surface collision detection method, device, equipment, medium and program product
By constructing a time-varying inclusive function to detect the earliest intersecting time period between surfaces, the false alarm and missed alarm problems of surface collision detection in the prior art are solved, and the detection accuracy and efficiency are improved.
Patent Information
- Application Number
- CN202411583429.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-07
- Publication Date
- 2025-04-04
AI Technical Summary
The prior art has problems of false alarms and missed alarms in the detection of continuous collisions between curved surfaces, and the calculation efficiency is low, making it difficult to meet the accuracy requirements in high-precision simulation and large deformation.
By constructing a time-varying inclusion function of the target motion surface, obtain the potential target intersection time period for any two motion surfaces to be detected to intersect, and determine whether they meet the preset time threshold to determine the earliest intersection time period.
The accuracy of surface collision detection is improved, the long-term accumulation of errors is avoided, the calculation efficiency is significantly improved, and the calculation time is reduced.
Smart Images
Figure CN119760950A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of computer graphics, and in particular to a method, device, equipment, medium and program product for detecting collision of a curved surface. Background Art
[0002] Continuous Collision Detection (CCD) between surfaces requires solving the earliest collision time between two surfaces and the corresponding collision point pair within a given time period [0, ΔT]. Solving this problem has always been a key technology in the field of computer graphics and physical simulation, especially in dynamic simulation, animation production and engineering manufacturing.
[0003] In today's CAD and graphics community, solving the CCD problem for high-order parametric surfaces usually relies on: (1) linearization techniques, which convert parametric surfaces into linear surfaces (triangular meshes) and then solve them using mature CCD algorithms developed for linear surfaces; (2) sampling techniques, which sample a surface and simplify the problem to CCD between a number of sampling points and another surface. However, since both linear surfaces and sampling points are only approximations of the original surface geometry, the results obtained using these techniques are usually inaccurate, resulting in a large number of false positives (FP) or false negatives (FN). In high-precision simulations or large deformations, in order to achieve the required collision solution accuracy, the resolution of the triangulation or sampling strategy must be significantly increased, which leads to a significant reduction in efficiency.
[0004] In addition, there are also some studies that attempt to directly solve the surface-surface CCD problem, including inclusion-based methods and sum-of-squares methods. Inclusion-based methods provide a conservative estimate of the collision to locate the solution of the problem by detecting the intersection between the inclusion functions of two surface elements. However, since the parameter space of the CCD problem is five-dimensional, the higher subdivision dimension causes the computational time to increase rapidly with the increase in accuracy requirements. On the other hand, the sum-of-squares method relaxes the CCD constraints and makes it semi-positive definite by carefully designing the relaxed constraints and can be solved using existing mathematical tools. However, it cannot provide explicit control over the accuracy and credibility of the solution. In addition, our experiments show that the sum-of-squares method is much slower than the inclusion-based method. In applications where the solution accuracy is required, the above methods will consume a lot of time in the process of surface collision detection, with low computational efficiency and long computational time. Summary of the invention
[0005] In view of the above-mentioned deficiencies in the prior art, the present application proposes a surface collision detection method, device, equipment, medium and program product.
[0006] In the first aspect, an embodiment of the present application provides a surface collision detection method, comprising: constructing a time-varying containment function of a target motion surface, the time-varying containment function including the space covered by the target motion surface at each target moment within a preset motion time period; using the time-varying containment function to obtain a potential target intersection time period in which any two motion surfaces to be detected intersect; if the time interval of the potential target intersection time period meets a preset duration threshold, then the potential target intersection time period is the earliest intersection time period in which any two motion surfaces to be detected intersect.
[0007] In the second aspect, an embodiment of the present application provides a surface collision detection device, including: a construction module, used to construct a time-varying containment function of the target motion surface, the time-varying containment function including the space covered by the target motion surface at each target moment within a preset motion time period; an acquisition module, used to use the time-varying containment function to obtain a potential target intersection time period for the intersection of any two motion surfaces to be detected; and a judgment module, used to determine that if the time interval of the potential target intersection time period meets a preset duration threshold, then the potential target intersection time period is the earliest intersection time period for the intersection of any two motion surfaces to be detected.
[0008] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in the first aspect above is implemented.
[0009] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect above is implemented.
[0010] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, wherein the computer program is executed by a processor to implement the method described in the first aspect above.
[0011] The technical solution provided in the embodiments of the present application has at least the following technical effects or advantages:
[0012] The embodiment of the present application constructs a time-varying containment function of the target motion surface, which includes the space covered by the target motion surface at each target moment within a preset motion time period. The time-varying containment function is used to obtain a potential target intersection time period when any two motion surfaces to be detected intersect. If the time interval of the potential target intersection time period meets a preset time threshold, the potential target intersection time period is the earliest intersection time period when any two motion surfaces to be detected intersect. This method can accurately detect the dynamic changes of the surface over time during continuous movement, correct errors in a timely manner, avoid long-term accumulation of errors, and thus improve the accuracy of collision detection.
[0013] In addition, the time-varying containment function closely links the state of the surface during continuous movement with time, making the behavior and performance of collision detection more intuitive and simple. The control problem based on the time-varying containment function can be transformed into the problem of solving feasible solutions to linear matrix inequalities, which slows down the growth of time consumption as the accuracy increases, thereby greatly improving the computational efficiency of collision detection and reducing the calculation time.
[0014] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:
[0016] Figure 1 A flow chart of a curved surface collision detection method provided in an embodiment of the present application is shown;
[0017] Figure 2 A schematic structural diagram of a curved surface collision detection device provided in an embodiment of the present application is shown;
[0018] Figure 3 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION
[0019] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.
[0020] Continuous Collision Detection (CCD) between surfaces requires solving the earliest collision time between two surfaces and the corresponding collision point pair within a given time period [0, ΔT]. Solving this problem has always been a key technology in the field of computer graphics and physical simulation, especially in dynamic simulation, animation production and engineering manufacturing.
[0021] In today's CAD and graphics community, solving the CCD problem for high-order parametric surfaces usually relies on: (1) linearization techniques, which convert parametric surfaces into linear surfaces (triangular meshes) and then solve them using mature CCD algorithms developed for linear surfaces; (2) sampling techniques, which sample a surface and simplify the problem to CCD between a number of sampling points and another surface. However, since both linear surfaces and sampling points are only approximations of the original surface geometry, the results obtained using these techniques are usually inaccurate, resulting in a large number of false positives (FP) or false negatives (FN). In high-precision simulations or large deformations, in order to achieve the required collision solution accuracy, the resolution of the triangulation or sampling strategy must be significantly increased, which leads to a significant reduction in efficiency.
[0022] In addition, there are also some studies that attempt to directly solve the surface-surface CCD problem, including inclusion-based methods and sum-of-squares methods. Inclusion-based methods provide a conservative estimate of the collision to locate the solution of the problem by detecting the intersection between the inclusion functions of two surface elements. However, since the parameter space of the CCD problem is five-dimensional, the higher subdivision dimension causes the computational time to increase rapidly with the increase in accuracy requirements. On the other hand, the sum-of-squares method relaxes the CCD constraints and makes it semi-positive definite by carefully designing the relaxed constraints and can be solved using existing mathematical tools. However, it cannot provide explicit control over the accuracy and credibility of the solution. In addition, our experiments show that the sum-of-squares method is much slower than the inclusion-based method. In applications where the solution accuracy is required, the above methods will consume a lot of time in the process of surface collision detection, with low computational efficiency and long computational time.
[0023] Based on this, an embodiment of the present application provides a method for detecting collision of curved surfaces. The solution of the embodiment of the present application is described in detail below in conjunction with the accompanying drawings.
[0024] See also Figure 1 A flow chart of a surface collision detection method is shown, and the method specifically comprises the following steps:
[0025] Step 101: construct a time-varying containment function of a target motion surface, where the time-varying containment function includes the space covered by the target motion surface at each target moment within a preset motion time period.
[0026] In one implementation, a time-varying containment function of a target motion surface may be constructed based on a preset bounding box type, wherein the time-varying containment function includes the space covered by the target motion surface at each target moment within a preset motion time period.
[0027] Furthermore, the time-varying containment function includes the following formula (1):
[0028]
[0029] Among them, □S(t) represents the space covered by the target motion surface at each target moment in the preset motion time period, p ij represents the coordinates of the control points, represents the control point velocity, e k Indicates the bounding box type, t indicates the preset motion time period, and x indicates the defined constant. represents the coordinates of the control points of the second motion surface to be detected, represents the control point velocity of the second motion surface to be detected, represents the coordinates of the control points of the first motion surface to be detected, Indicates the control point velocity of the first motion surface to be detected.
[0030] In the embodiment of the present application, the bounding box is a technology for quickly estimating the spatial range of a geometric body, which can help perform tasks such as collision detection, accelerated rendering, and spatial segmentation. The preset bounding box type always encloses the specific types of AABB bounding box (Axis-Aligned Bounding Box), OBB bounding box (Oriented Bounding Box), Sphere, and Fixed Direction Hull (Fixed Direction Hulls, FDH). For example, if the bounding box type is e k Using AABB bounding box, then e k ∈{e0,e1,e2}, where e0,e1,e2 represent the three standard basis vectors in the world space; if the enclosing and type e k Using OBB bounding box, Represents the three axes of one of the surfaces to be detected, The three axes representing the other surface to be detected.
[0031] Step 102: using the time-varying containment function, obtain a potential target intersection time period when any two moving surfaces to be detected intersect.
[0032] In one embodiment, the first moving surface to be detected can be discretized to obtain multiple first control point information, each first control point information includes the first control point coordinates and the first control point speed, and the second moving surface to be detected can be discretized to obtain multiple second control point information, each second control point information includes the second control point coordinates and the second control point speed, and then, based on the multiple first control point information, the multiple second control point information and the preset bounding box type, the time-varying containment function is used to obtain the potential target intersection time period of the first moving surface to be detected and the second moving surface to be detected.
[0033] On the basis of the above-mentioned implementation manner, in some modified implementation manners, before obtaining the potential target intersection time period for the intersection of any two moving surfaces to be detected, it can also be determined whether the time-varying containment function has a solution. If there is a solution, continue to execute the step of obtaining the potential target intersection time period for the intersection of any two moving surfaces to be detected; if there is no solution, it is determined that any two moving surfaces to be detected will not collide.
[0034] Furthermore, for a single bounding box type e k , A set of linear functions about a preset motion time period t can be constructed (α∈{1,2}). After drawing the two-dimensional function graph of the functions of this set, it can be found that the min and max functions acting on this set outline the lower and upper boundaries of the image of this set. Therefore, for a single inequality, solving it is actually to find the lower boundary of the image corresponding to the second motion surface to be detected under the coordinates of the control point in the motion time period, which is below the upper boundary of the image corresponding to the first motion surface to be detected. If the lower boundary is always below the upper boundary, then the entire interval to be solved is the solution of the single inequality; on the contrary, if the lower boundary exceeds the upper boundary, since the min function of the linear function is a concave function and the max function is a convex function, the "exceeding" must only occur in a single connected subinterval. Therefore, the remaining parts after removing the "exceeding subinterval" can make the single inequality true.
[0035] Furthermore, we calculate the "out-of-subinterval" for each inequality in the above formula (1). Then, the remaining part after eliminating all "out-of-subintervals" from the preset motion time period is the part that can make all inequalities valid at the same time, which is the solution of the original formula we require, that is, the potential target intersection time period.
[0036] Step 103: If the time interval of the potential target intersection time period meets the preset time threshold, the potential target intersection time period is the earliest intersection time period in which any two moving surfaces to be detected intersect.
[0037] In one embodiment, if the time interval of the potential target intersection time period meets the preset time length threshold, the potential target intersection time period is the earliest intersection time period in which any two moving surfaces to be detected intersect; if the time interval of the potential target intersection time period does not meet the preset time length threshold, the parameter space formed by the first parameter coordinates of the first moving surface to be detected and the second parameter coordinates of the second moving surface to be detected is recursively subdivided to obtain multiple sub-parameter spaces, each sub-parameter space includes a first sub-movement surface and a second sub-movement surface, and then the first sub-movement surface and the second sub-movement surface of each sub-parameter space are respectively used as new moving surfaces to be detected, and the potential target intersection time period is used as a new motion time period, and the step of using the time-varying containment function to obtain the potential target intersection time period in which any two moving surfaces to be detected intersect is continued.
[0038] On the basis of the above implementation, in some modified implementations, the parameter space formed by the first parameter coordinates of the first motion curved surface to be detected and the second parameter coordinates of the second motion curved surface to be detected is recursively subdivided to obtain multiple sub-parameter spaces. Specifically, each dimension of the parameter space formed by the first parameter coordinates of the first motion curved surface to be detected and the second parameter coordinates of the second motion curved surface to be detected is divided into two to obtain 2 4 corresponding sub-parameter spaces.
[0039] By bisecting the dimensions of the parameter space formed by the first parameter coordinates of the first moving surface to be detected and the second parameter coordinates of the second moving surface to be detected, we can explicitly calculate and exclude time from the subdivision framework, thereby reducing the problem dimension and achieving faster convergence in the time domain, so that the growth of time consumption with the improvement of accuracy is slower, and because the intersection period of the time-varying containment function is directly calculated, our method can quickly narrow down and locate the candidate time domain without relying on subdividing the time dimension, which significantly reduces the calculation time and enhances the scalability of surface collision detection, especially when the accuracy requirement increases.
[0040] On the basis of the above-mentioned implementation manner, in some modified implementation manners, based on the potential target intersection time periods corresponding to each sub-parameter space, each sub-parameter space is sorted in ascending order according to the earliest intersection time in the potential target intersection time periods corresponding to each sub-parameter space. If the time interval of the potential target intersection time periods corresponding to each sub-parameter space does not meet the preset duration threshold, the first sub-motion surface and the second sub-motion surface of each sub-parameter space are taken in turn in the sorted order as new motion surfaces to be detected, and the potential target intersection time period of each sub-parameter space is taken as a new motion time period, and the step of using the time-varying containment function to obtain the potential target intersection time period where any two motion surfaces to be detected intersect is continued.
[0041] The embodiment of the present application constructs a time-varying containment function of the target motion surface, which includes the space covered by the target motion surface at each target moment within a preset motion time period. The time-varying containment function is used to obtain a potential target intersection time period when any two motion surfaces to be detected intersect. If the time interval of the potential target intersection time period meets a preset time threshold, the potential target intersection time period is the earliest intersection time period when any two motion surfaces to be detected intersect. This method can accurately detect the dynamic changes of the surface over time during continuous movement, correct errors in a timely manner, avoid long-term accumulation of errors, and thus improve the accuracy of collision detection.
[0042] In addition, the time-varying containment function closely links the state of the surface during continuous movement with time, making the behavior and performance of collision detection more intuitive and simple. The control problem based on the time-varying containment function can be transformed into the problem of solving feasible solutions to linear matrix inequalities, which slows down the growth of time consumption as the accuracy increases, thereby greatly improving the computational efficiency of collision detection and reducing the calculation time.
[0043] See also Figure 2 The embodiment of the present application further provides a curved surface collision detection device, which is used to execute the curved surface collision detection method described in the above embodiment, and the device includes:
[0044] A construction module 201 is used to construct a time-varying containment function of a target motion surface, wherein the time-varying containment function includes a space covered by the target motion surface at each target moment within a preset motion time period;
[0045] An acquisition module 202 is used to acquire a potential target intersection time period when any two moving surfaces to be detected intersect by using the time-varying containment function;
[0046] The judgment module 203 is used to determine that if the time interval of the potential target intersection time period meets a preset time threshold, the potential target intersection time period is the earliest intersection time period in which any two moving surfaces to be detected intersect.
[0047] The curved surface collision detection device provided in the embodiment of the present application and the curved surface collision detection method provided in the above embodiment are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented therein.
[0048] The present application also provides an electronic device corresponding to the curved surface collision detection method provided in the above embodiment. Figure 3 , which shows a schematic diagram of an electronic device provided by some embodiments of the present application. Figure 3 As shown, the electronic device 30 may include: a processor 300, a memory 301, a bus 302 and a communication interface 303, wherein the processor 300, the communication interface 303 and the memory 301 are connected via the bus 302; the memory 301 stores a computer program that can be run on the processor 300, and when the processor 300 runs the computer program, the surface collision detection method provided in any of the aforementioned embodiments of the present application is executed.
[0049] The memory 301 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one physical port 303 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.
[0050] The bus 302 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 301 is used to store programs, and the processor 300 executes the programs after receiving the execution instruction. The surface collision detection method disclosed in any implementation of the embodiment of the present application may be applied to the processor 300, or implemented by the processor 300.
[0051] The processor 300 may be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 300 or an instruction in the form of software. The above processor 300 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a readily available programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 301, and the processor 300 reads the information in the memory 301 and completes the steps of the above method in combination with its hardware.
[0052] The electronic device provided in the embodiment of the present application and the surface collision detection method provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented therein.
[0053] An embodiment of the present application also provides a computer-readable storage medium corresponding to the surface collision detection method provided in the aforementioned embodiment, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it will execute the surface collision detection method provided in any of the aforementioned embodiments.
[0054] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.
[0055] An embodiment of the present application also provides a computer program product corresponding to the surface collision detection method provided in the aforementioned embodiment, including a computer program, which is executed by a processor to implement the surface collision detection method provided in the aforementioned embodiments.
[0056] The computer-readable storage medium and computer program product provided in the above-mentioned embodiments of the present application are based on the same inventive concept as the surface collision detection method provided in the embodiments of the present application, and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.
[0057] It should be noted that:
[0058] The algorithm and display provided herein are not inherently related to any particular computer, virtual device or other equipment. Various general purpose devices can also be used together with the teachings based on this. According to the above description, it is obvious to construct the structure required for this type of device. In addition, the application is not directed to any specific programming language. It should be understood that the content of the application described herein can be realized using various programming languages, and the description of the specific language above is to disclose the best mode of implementation of the application.
[0059] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.
[0060] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the claims below, the inventive aspects are less than all the features of the single embodiment disclosed above. Therefore, the claims following the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.
[0061] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition they may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.
[0062] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims below, any one of the claimed embodiments may be used in any combination.
[0063] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some or all components in the creation device of the virtual machine according to the embodiment of the present application. The application can also be implemented as a device or device program (e.g., computer program and computer program product) for executing part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.
[0064] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.
[0065] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.
Claims
1. A surface collision detection method, characterized in that: include: Constructing a time-varying containment function of a target motion surface, wherein the time-varying containment function includes a space covered by the target motion surface at each target moment within a preset motion time period; Using the time-varying containment function, obtaining a potential target intersection time period when any two moving surfaces to be detected intersect each other; If the time interval of the potential target intersection time period meets the preset time length threshold, the potential target intersection time period is the earliest intersection time period in which any two moving surfaces to be detected intersect.
2. The curved surface collision detection method according to claim 1, characterized in that: Also includes: If the time interval of the potential target intersection time period does not meet the preset time threshold, recursively subdividing the parameter space formed by the first parameter coordinates of the first motion curved surface to be detected and the second parameter coordinates of the second motion curved surface to be detected to obtain a plurality of sub-parameter spaces, each of which includes a first sub-motion curved surface and a second sub-motion curved surface; The first sub-motion surface and the second sub-motion surface of each of the sub-parameter spaces are respectively used as new motion surfaces to be detected, and the potential target intersection time period is used as the new motion time period, and the step of using the time-varying containment function to obtain the potential target intersection time period when any two motion surfaces to be detected intersect is continued.
3. The curved surface collision detection method according to claim 1, characterized in that: The method of using the time-varying containment function to obtain a potential target intersection time period for any two moving surfaces to be detected to intersect each other includes: Discretize the first motion curved surface to be detected to obtain a plurality of first control point information, each of which includes a first control point coordinate and a first control point speed; Discretize the second motion curved surface to be detected to obtain a plurality of second control point information, each of which includes a second control point coordinate and a second control point velocity; Based on the first control point information, the second control point information and the preset bounding box type, the time-varying containment function is used to obtain a potential target intersection time period of the first moving surface to be detected and the second moving surface to be detected.
4. The curved surface collision detection method according to any one of claims 1 to 3, characterized in that: The time-varying containment function includes the following formula: Wherein, □S(t) represents the space covered by the target motion surface at each target moment in the preset motion time period, p ij represents the coordinates of the control points, represents the control point velocity, e k Indicates the bounding box type, t indicates the preset motion time period, and x indicates the defined constant. represents the coordinates of the control points of the second motion surface to be detected, represents the control point velocity of the second motion surface to be detected, represents the coordinates of the control points of the first motion surface to be detected, Indicates the control point velocity of the first motion surface to be detected.
5. The curved surface collision detection method according to any one of claims 1 to 3, characterized in that: Before obtaining the potential target intersection time period for any two motion surfaces to be detected to intersect, the following is also included: Determining whether the time-varying containment function has a solution; If there is a solution, continue to execute the step of obtaining a potential target intersection time period for any two motion surfaces to be detected to intersect; If there is no solution, it is determined that any two moving surfaces to be detected will not collide.
6. The curved surface collision detection method according to claim 2, characterized in that: Also includes: Based on the potential target intersection time periods corresponding to the sub-parameter spaces, the sub-parameter spaces are sorted in ascending order according to the earliest intersection time in the potential target intersection time periods corresponding to the sub-parameter spaces; If the time interval of the potential target intersection time periods corresponding to each sub-parameter space does not meet the preset time length threshold, the first sub-motion surface and the second sub-motion surface of each sub-parameter space are taken in turn in the sorted order as new motion surfaces to be detected, and the potential target intersection time period of each sub-parameter space is taken as the new motion time period, and the step of using the time-varying containment function to obtain the potential target intersection time period where any two motion surfaces to be detected intersect is continued.
7. A curved surface collision detection device, characterized in that: include: A construction module, used to construct a time-varying containment function of a target motion surface, wherein the time-varying containment function includes a space covered by the target motion surface at each target moment within a preset motion time period; An acquisition module, used for acquiring a potential target intersection time period when any two moving surfaces to be detected intersect by using the time-varying containment function; The judgment module is used to determine that if the time interval of the potential target intersection time period meets a preset time threshold, the potential target intersection time period is the earliest intersection time period in which any two moving surfaces to be detected intersect.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.
9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.
10. A computer program product, comprising a computer program, characterized in that The computer program is executed by a processor to implement the method according to any one of claims 1 to 6.