一种基于体素八叉树的碰撞算法研究

A Research about Collision Algorithm Based on Voxel Octree

碰撞检测算法是虚拟仿真系统中的关键技术。本文利用OPENGL和CHAI3D库实现对模型的视觉和触觉渲染。同时,针对复杂的软体模型,采用一种多方向体素算法和哈希算法来存储模型的离散化数据。碰撞算法采用包围盒和空间分解的混合算法,粗略碰撞利用八叉树判断两个模型是否在同一节点内,精确碰撞是通过基本片元的距离计算来确定是否发生碰撞。仿真结果表明,该算法可以有效实时反馈碰撞点的位姿和反馈力。

Collision detection algorithm is a key technology in virtual simulation system.In this paper,OPENGL and CHAI3 D libraries were used to realize visual and tactile rendering of the model.For complex software models,a multidirectional voxel algorithm and hash algorithm were used to store discrete data of the model.The collision algorithm was divided into bounding box and space decomposition,octree was used to judge whether two model were in the same node as rough collision,and whether collision would happen by the distance calculation of the basic elements.The simulation results shows that,the algorithm can feedback the attitude and force of the collision point in real time.