【作者】 刘新凯；

【导师】 刘书桂；

【作者基本信息】 天津大学 ， 测试计量技术与仪器， 2004， 硕士

【摘要】 在机器人、虚拟现实及CAD/CAM等领域中,物体之间的碰撞检测是一个关键问题,其基本任务是确定两个或多个物体彼此是否发生接触或穿透。本论文在分析总结国内外各种碰撞检测算法的基础上,利用图形硬件的流计算优势,把非凸体转为三角形面片结构,映射到GPU的Fragment shader中进行碰撞检测计算,取得了较好的效果,为GPU图形硬件通用计算的发展做出了一定的贡献。同时还针对NURBS曲面的细分和修剪进行了分析应用,为进一步的深入研究打下了良好基础。本课题是四川绵阳异形工件检测项目的一部分,围绕着对孔、槽、腔、涡轮等非凸异形工件的碰撞检测问题,主要进行了以下研究工作:1.设计解析多种数据文件的框架,并实现了针对3DS格式文件的数据读取和场景绘制。2.在介绍GPU图形硬件及开发语言的基础上,把分离轴检测算法映射到Fragment shader中,实现了基于GPU流计算模式的非凸体碰撞检测算法。3.针对NURBS曲面的细分和修剪问题,分析比较了三种实现方法,并在tNURBS库的基础上进行扩充修改,初步实现了NURBS曲面的细分修剪要求。更多还原

【Abstract】 Collision detection is one of vital problems in the fields of robotics, virtualreality and CAD/CAM, etc. Its fundamental task is to detect whether there arecontacts and penetrations between two or among multiple objects.Based on the intensive analyses and summarizations of various algorithms aboutcollision detection, taking advantage of the high stream computing power of graphicshardware, the dissertation converts non-convex objects into triangle strips, maps thegeometry computation of collision detection between two triangles into shaders of theprogrammable graphics processing unit (GPU) to match the parallel architecture ofgraphics hardware, and produces fast accurate results via real time rendering.Analyses and applications for the tessellation of trimmed NURBS surfaces arepresented, which do good for the further relative research.This subject is a part of the abnormal-workpiece measuring project in Mianyang,Sichuan province. Aiming at the collision detection problems in realistic simulation ofnon-convex workpieces, such as holes, grooves, cavities or turbines, we have done thefollowing work:1. Design the framework of analysising various file formats, and implement the3DS file parser to read scene data.2. Through introducing GPU graphics hardware and its development language,realize the migration of SAT (separating axis theorem) algorithm intoprogrammable GPU’s fragment shader, implement the collision detectionalgorithm between non-convex workpieces based on the stream computingmodel.3. Compare three solutions for the tessellation of the trimmed NURBS surfaces.Modify and expand the tNURBS library to basically implement the demandof the subject.更多还原