基于Bullet物理引擎的虚拟泵车驾驶系统的研究与实现

Design and implemention of Bullet physics engine-based virtual driving system of pump truck

针对大型工程机械车辆驾驶模拟的计算复杂度与时间开销较大的问题,将Bullet物理引擎应用于工程车辆的驾驶模拟是一种简单高效且能兼顾模拟的实时性与真实性的解决方案。以泵车为例,首先根据所使用的物理引擎将给定的泵车模型分解成独立的部件并赋予基本的物理属性,然后在这些独立的部件之间建立对应的力学约束,最终在给定的场景中对泵车的驾驶操作进行实验。试验结果表明,基于Bullet物理引擎的虚拟泵车驾驶系统能高度真实地展现泵车的整个操作驾驶过程。

In order to reduce computational complexity and time overhead of the large engineering machinery vehicle driving simu- lation system, the Bullet physics engine is used in vehicle driving simulation. It is a simple and efficient method, which has real- time and authenticity. For pump truck, first of all, the vehicle model is decomposed into multiple independent rigid body pans ac- cording the using physics engine, and the basic physical properties of the parts arc given. Then the constraints among the components of the pump truck are built. Finally, experiment on the driving operation of the pump truck in a given scene is performed. The ex- perimental results show that Bullet physics engine-based virtual driving system of pump truck can show the entire operation of the driving process realistically.