[游戏编程书籍].Collision.Detection.-.Algorithms.and.Applications

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1、CollisionDetection:AlgorithmsandApplicationsMingC.Lin,U.S.ArmyResearchOceandUniversityofNorthCarolina,ChapelHill,NC,USADineshManocha,UniversityofNorthCarolina,ChapelHill,NC,USAJonCohen,UniversityofNorthCarolina,ChapelHill,NC,USAStefanGottschalk,UniversityofNorthCarolina,ChapelHill,NC,USAhttp://w

2、ww.cs.unc.edu/~geom/collide.htmlFastandaccuratecollisiondetectionbetweengeneralThemostchallengingprobleminasimulation,geometricmodelsisafundamentalprobleminmodel-namelythecollisionphase,canbeseparatedintothreeing,robotics,manufacturingandcomputer-simulatedparts:collisiondetection,contactareadeter

3、mination,environments.Mostoftheearlieralgorithmareeitherandcollisionresponse.Inthispaper,weaddresstherestrictedtoaclassofgeometricmodels,sayconvexrsttwoelementsbypresentinggeneralapurposecol-polytopes,orarenotfastenoughforpracticalapplica-lisiondetectionandcontactareadeterminationalgo-tions.Wepr

4、esentanecientandaccuratealgorithmrithmforsimulations.Thecollisionresponseisappli-forcollisiondetectionbetweengeneralpolygonalmod-cationdependent.Thealgorithmreportsthecontactelsindynamicenvironments.Thealgorithmmakesareaandthusenablestheapplicationtocomputeanuseofhierarchicalrepresentationsalong

5、withframetoappropriateresponse.framecoherencetorapidlydetectcollisions.Itisro-Ouralgorithmnotonlyaddressesinteractionbe-bustandhasbeenimplementedaspartofpublicdomaintweenapairofgeneralpolygonalobjects,butalsolargepackages.Inpractice,itcanaccuratelydetectalltheenvironmentsconsistingofhundredsofmov

6、ingparts,contactsbetweenlargecomplexgeometriescomposedofsuchasthoseencounteredinthemanufacturingplants.hundredsofthousandsofpolygonsatinteractiverates.Furthermore,wedonotassumethemotionsoftheob-jectstobeexpressedasaclosedformfunctionoftime.1IntroductionOurcollisiondetectionschemeisecientandaccur

7、ate(totheresolutionofthemodels).CollisiondetectionisafundamentalprobleminGiventhegeometricmodels,thealgorithmpre-robotics,computeranimation,physically-basedmod-computestheconvexhullandahierarchicalrepresenta-eling,mole