基于obb包围盒的快速碰撞检测-机械制造及自动化专业论文.docxVIP

AbstractCollision Abstract Collision detection has been researched in ma工ly fields such as robot motion planning and computer gr印hics for a long time．In the later years，with the rising of virtual reality and distributed interactive simulation，many researches focus on collision detection and Exact c01lisiOn detection is very imponant to imprOve reality and enhance immersiOn for vinual enVironment，and the complexity and real·time of vinual enviroment bring new requirement to coIlision detcction Bounding Volume hierarchy provides an efbctive method to resolve the intrinsic time complexity in collision detection．The idea behind it is to approximate thc object with simpler bounding Volume that is a little bigger than the object．In building hierarchies on object， one can obtain increasingly more accurate approximations of the objects．so during traversing bounding v01ume hierarchy，it speeds up conision detection by pmne away primitive pairs，which will not intersect clearly though r印id intersection test between bounding volumes and just deal with those whose bounding v01ume is intersected．The choice of bounding Volume is the basic and key problem of this approach This thesis focuses on the rigid bodies of large_scale compIex enVironment as the research target and emphasizes on the relevant problems of OBB collision detection algorithm．Based on the full research of inherent characters of 0BB hierarchical box， this thesis inlplements a series of key techniques such as building 0BB and OBB tree， and overiap test between OBB boxes，verifies the attribute that OBB has the advantage that it is fit for the collision detection between“gid bodies and optimizes lI 硕士学位论文the 硕士学位论文 the shoncomings and disadVantages of OBB．Based on the limitations of OBB，this thesis proposes an optimizing oVerl印test algorithm of bounding box and primitiVe This method eliminates the bounding boxes of leaf nodes and streamlines the OBB hierarchical layer． This method also introduces a separating axis theo