【摘要】 碰撞检测是自然环境计算机模拟的基础,机器人等领域有着广泛的应用,本文提出了一个用于多面体碰撞检测的快速算法HS-jump,HP-jump算法建立了一个有效的检测模型,当两个凸多面体碰撞时,可以快速的报告它们之间碰撞, 当两个物体分离时,该算法提供了一个启发式搜索策略,用于快速的搜索分离物体的分离向量两个分离物体的分离平面的法 向量,与已有的算法相比,HS-jump算法可以更平衡的处理碰撞、分离的情况。更多还原

【Abstract】 Collision detection is fundamental to computer simulation of a physical environment, and has applications in computer graphics, CAD/CAM, and robotics. In this paper we propose an efficient method, which we call HS-jump, for collision detection for polytopes. HS-jump combines an efficient scheme to report collision for two colliding polytopes and a fast heuristic strategy to search for a separating vector of two separated polytopes; a separating vector is the normal vector of a separating plane of two disjoint polytopes. Thus HS-jump exhibits more balanced performances in both cases of separating polytopes and colliding ones.更多还原