基于距离场和扫掠剪除算法的线缆碰撞检测技术.pdf

Computer Engineering and Applications 计算机工程与应用 2017 ，53（10） 27 基于距离场和扫掠剪除算法的线缆碰撞检测技术 王发麟，郭 宇，廖文和，黄少华 WANG Falin, GUO Yu, LIAO Wenhe, HUANG Shaohua 南京航空航天大学 机电学院，南京 210016 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China WANG Falin, GUO Yu, LIAO Wenhe, et al. Collision detection technology of cable harness based on distance fields and sweep-and-prune algorithm. Computer Engineering and Applications, 2017, 53 （10）：27-34. Abstract ：For the problem of collision detection difficulty caused by the cable harness with flexible and deformable charac- teristics, a collision detection method of cable harness based on distance fields and sweep-and-prune （SaP）algorithm is proposed. The collision detection method based on distance fields is mainly used for detect the collisions among cable har- nesses as well as cable harnesses and structural parts. In this phase, the spherical harmonics expression of cable harness with Level Of Detail （LOD ）is finished firstly based on the establishment of contour bounding sphere for cable harness; then, to acquire the collision feedback information from the surface normal vector and puncture depth of cable harness or structural parts, a distance fields mapping with three dimensions （3D ）is generated. The collision detection method based on SaP algorithm is mainly used for detect the cable harness self-collision. In this phase, a mathematical model of cable harness segments is constructed firstly; and then the discrete points SaP algorithm is used to complete the cable harness self-collision. Finally, the algorithm presented in this paper is validated, and the results show that the algorithm has better accuracy and quickness to meet the requirements of engineering practice. Key words ：cable harness assembly; collision detection; distance fields; spherical harmonics; sweep-and-prune algorithm 摘 要：针对线缆具有柔性可变形特性而引起线