Collision.Detection.pdf

《Collision.Detection.pdf》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、winxos11-01-28winxos11-01-28ImprovedCollisiondetectionandResponseKasperFauerbykasper@peroxide.dkhttp://www.peroxide.dk25thJuly2003Contents1Introduction31.1Previouswork...........................31.2Thealgorithm...........................31.3Howtoreadthisdocument..................

2、..42Vectorspaces52.1Definitionofavectorspace....................52.2Casestudy:R3..........................62.3Coordinates............................72.4Ellipsoidspace..........................73Collisiondetection93.1Overview..............................93.2Checkingasingletriangl

3、e....................113.3Collidingwiththeinsideofatriangle..............133.4Thesweeptest..........................143.5Insummary............................164Collisionresponse184.1Theslidingplane.........................184.2Slidingthesphere.........................204.3Gravit

4、y..............................224.4Insummary............................235Conclusions25ACalculatingthenormaltoaregularsurface27BTheplaneclass32CUtilityfunctions341DSolvingquadraticequations35ECodeforcollisionstep37FCodeforresponsestep442Chapter1Introduction1.1PreviousworkThispa

5、perdescribesanupdatedversionofthecollisiondetectionandre-sponsealgorithmIfirstpresentedin[Fau00].Someofthematerialhasbeencopieddirectlyfromthatarticlebuttheentiresectiononthecollisiondetec-tionstephasbeenrewrittenusingasweptspheretechniqueasdescribedin[Rou03].Thispaperhasbeenwritt

6、eninawaysoitshouldn’tbenessesarytoreadtoanyofthereferencedpapersbutifsomethingseemsunclear,inparticularregardingthesweptspheretechnique,thenIencourageyoutoreadRouwéspaperasitmightgointomoredetailsoncertainaspectsofthealgorithm.Theresponsestepisstillbasedpartlyontheideasfirstpresen

7、tedin[Net00]andpartlyfrommyownwork.Thistimeademowithfullsourcewilleventuallybeavailableat:http://www.dr-code.com.Thedemowillmostlybedonebyafriendofmine,MattOstlundalsoknownbysomeas“RhoneRanger”,withprobablyjustalittleinterventionbymyselfinthecorecollisioncode.Sokeepaneyeonhissite

8、aswell.Ahugethankstohimfortakingonthista