多面体干涉检测中的接触状态判定法

Contacting condition analysis used in collision detection of polyhedron

目的针对已有的干涉检测算法多采用在离散的时间点上进行求交的方法,效率和可靠性低,并且不太容易解决物体刚好接触等问题,提出通过接触判断进行多面体干涉检测的方法。方法在对接触状态进行分析的基础上提出了基于四元组运动表示的物体接触状态判定算法。结果该算法的干涉检测时间是连续的,能够避免由于时间划分误差产生的判断遗漏。结论在检测到几何对象的接触后,采用静态包容性测试,大大提高了算法效率,而且由于避开了非线性问题,可靠性也大大提高。对简单运动或几何问题,具有很高的效率和可靠性。

Aim To detect collision as a key technique in motion planning and kinetics simulation. Methods The algorithms of detecting collision is not very good in the situation in which polyhedral objects were contacted only. Results An algorithm of detecting collision between polyhedral objects was presented based on contacting condition analysis. Results In this algorithm, the collision detection time is continuous, so it can avoid the miss of collision detection. Conclusion We can use static containing test after detecting result, the etticiency and reliability of collision detection was increased the contact between objects and as a