一种快速计算三维空间中物体碰撞接触面的方法

A Method for Rapidly Calculating the Contact Regions of Colliding Objects in Three-Dimensional Space

介绍了一种利用三维空间中物体运动的时空相关性 ,以碰撞检测取得的两物体碰撞三角面为计算域 ,快速寻找凸多面体发生碰撞时接触面的方法。该方法利用特征点来描述接触面 ;根据接触面的拓扑结构计算碰撞三角面间的点 -面、边 -边的最小距离 ,从而快速确定碰撞位置、接触面特征点及接触面的法线 ,并简要叙述了点 -面、边 -边接触的计算流程。该方法通过缩小接触面的计算范围 ,简化接触面法线 ,提高了碰撞测定的实时性。通过实际应用 ,证明了该方法的可行性 ,适用于三维游戏制作、虚拟现实中的物理仿真等各项应用研究。

This paper introduces a method which uses space-time relativity between the moving or fixed objects in three-dimensional space and collision triangles gained by collision detection to rapidly look for contact regions of the convex objects colliding with each other. It describes the contact regions by a finite number of point contacts. Based on the topological relation of contact regions we determine the collision position, point contacts and contact normals by computing the minimum distance between points and faces, edges and edges. It also specifies the process of calculating point/face, edge/edge contact. By reducing the range of contact regions and simplifying the computus of contact normals, the method enhances the real-time performance of collision determination. It has been proved that this algorithm is feasible and can be applied to the three-dimensional games, simulation based physics in virtual reality and so on.