collision detection - texas a&m university碰撞检测-德克萨斯&m大学

collision detection - texas a&m university碰撞检测-德克萨斯&m大学

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1、CollisionDetectionCSCE4412/59WhatisCollisionDetection?Giventwogeometricobjects,determineiftheyoverlap.Typically,atleastoneoftheobjectsisasetoftriangles.Rays/linesPlanesPolygonsFrustumsSpheresCurvedsurfaces3/59WhenUsedOfteninsimulationsObjectsmove–findwhentheyhitso

2、methingelseOtherexamplesRaytracingspeedupCullingobjects/classifyingobjectsinregionsUsually,needstobefastAppliedtolotsofobjects,ofteninreal-timeapplications4/59BoundingVolumesKeyidea:Surroundtheobjectwitha(simpler)boundingobject(theboundingvolume).Ifsomethingdoesno

3、tcollidewiththeboundingvolume,itdoesnotcollidewiththeobjectinside.Often,tointersecttwoobjects,firstintersecttheirboundingvolumes5/59ChoosingaBoundingVolumeLotsofchoices,eachwithtradeoffs6/59ChoosingaBoundingVolumeLotsofchoices,eachwithtradeoffsTighterfittingisbett

4、erMorelikelytoeliminate“false”intersections7/59ChoosingaBoundingVolumeLotsofchoices,eachwithtradeoffsTighterfittingisbetterSimplershapeisbetterMakesitfastertocomputewith8/59ChoosingaBoundingVolumeLotsofchoices,eachwithtradeoffsTighterfittingisbetterSimplershapeisb

5、etterRotationInvariantisbetterEasiertoupdateasobjectmoves9/59ChoosingaBoundingVolumeLotsofchoices,eachwithtradeoffsTighterfittingisbetterSimplershapeisbetterRotationInvariantisbetterConvexisusuallybetterGivessimplershape,easiercomputation10/59CommonBoundingVolumes

6、:SphereRotationallyinvariantUsuallyUsuallyfasttocomputewithStore:centerpointandradiusCenterpoint:object’scenterofmassRadius:distanceoffarthestpointonobjectfromcenterofmass.Oftennotverytightfit11/59CommonBoundingVolumes: AxisAlignedBoundingBox(AABB)Veryfasttocomput

7、ewithStore:maxandminalongx,y,zaxes.Lookatallpointsandrecordmax,minModeratelytightfitMustupdateafterrotation,unlessalooseboxthatencompassestheboundingsphere12/59CommonBoundingVolumes:k-dopsk-discreteorientedpolytopesSameideaasAABBs,butusemoreaxes.Store:maxandminalo

8、ngfixedsetofaxes.Needtoprojectpointsontootheraxes.TighterfitthanAABB,butalsoabitmorework.13/59Choosingaxesfork-dopsCommonaxes:consideraxescomingoutfromc

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