【摘要】 虚拟现实在遥操作机器人系统中克服时延的影响、提高操作安全性和作业效率等方面有着重要作用。为了提高虚拟环境中碰撞检测的效率和精度,提出基于混合层次包围盒和多线程的快速计算方法:用包含包围球、轴对齐包围盒和方向包围盒树的混合层次包围盒进行快速剔除测试,并用三角面片间的测试确定物体是否干涉及干涉位置,用多线程技术来加速场景的遍历、层次结构下降及干涉三角形的绘制。仿真实验结果证明了该方法在提高检测速度方面的有效性。更多还原

【Abstract】 Virtual reality plays an important role in overcoming the influence of time- delay and improving the operational safety and efficiency in the teleoperation robot system. In order to improve the efficiency and accuracy of collision detection in virtual environment,a fast algorithm based on hybrid hierarchical bounding volume and multi- threading is proposed. The hybrid hierarchical bounding volume is used in the algorithm to execute the excluding test,including bounding sphere,AABB and OBB tree. Through the test between triangle and triangle,the object collision and its colliding position are defermined. The multi- threading is used to accelerate the process of traversing scene,the decline of the hierarchical structure and drawing of interferential triangles. The experimental results show the algorithm can be used to improve the efficiency of the collision detection.更多还原