CN102609992A - Self collision detection method based on triangle mesh deformation body - Google Patents
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Abstract
The invention discloses a self collision detection method based on a triangle mesh deformation body, comprising the steps of (1), constructing a data structure based on a hierarchical hounding volume (BVH); constructing an xBVH (expanded bounding volume hierarchy); constructing an SCTT (self-collision test tree)); optimizing star-shaped outline; (2), pre-processing self-collision detection based on the star-shaped outline; (3), performing self-collision test based on the star-shaped outline in real time. The method can detect the self-collision phenomenon during the deformation of the triangle mesh deformation body effectively in real time, accurately locates collision generation point and updates the collision information in real time.
Description
Technical field
The invention belongs to the computer virtual reality technology field; Specifically comprise the actual demand of interactive simulation system of the deformable bodies of true details from exploitation; Through the present situation of research deformable bodies self collision detection technique, carry out true strain operation in the emulation of deformable solid modelling for the convenience of the user and the triangle gridding deformable body self collision detection method or the system of exploitation.
Background technology
Nearly two during the last ten years, and the researchist has done quite a lot of significant work in the collision detection field, impetus has been played in the development of virtual reality.Collision detection algorithm is of a great variety, emphasizes particularly on different fields.Document 1-H.C.Longuet-Higgins; A computer algorithm for reconstructing a scene from two projections [J] .Nature; 1981.293 (10): 133-135 has proposed one type of collision method of determining and calculating continuously; Collision detection algorithm has solved the problem that discrete collision detection algorithm exists preferably through to the accurate modeling of structure space continuously.But it is bigger that the shortcoming of this type algorithm is a calculated amount, and computing velocity is slow, especially in large scale scene, can't realize real-time collision detection.Although so there are some problems in discrete collision detection algorithm, can cater to the demand of people preferably, be still the emphasis and the focus of Collision Detection Algorithm at present to real time collision detection because of the rapidity of its testing process.
Make a general survey of former study, be broadly divided into based on figure with based on the collision detection algorithm of image.On the collision detection based on figure, the researchist has done a large amount of work, has formed ripe algorithms such as spatial solution and level enclosure body method.Document 2-Jimenez P; Thomas F; Torras C.Collision Detection:A Survey.Computers and Graphics [J]; 2001.25 (2): the spatial solution that 269-285 adopted mainly is earlier whole Virtual Space to be divided into isopyknic regular cell, with this cohort with the object segmentation Cheng Gengxiao in the scene, and only the geometric object that has occupied same cell or adjacent cells lattice is intersected test.In general, the spatial solution all need be confirmed the space cell that each object occupies when each collision detection.If Immobile model is a lot of in the scene, can have divided the space cell lattice in advance and confirm the space cell that each model occupies.When model sport, it is just passable only need to recomputate the space that motion model occupies.The relatively more typical example of spatial solution has k-d tree, Octree, BSP tree, tetrahedron net and regular grid etc.Adopt hierarchical division method to carry out the speed that spatial decomposition can further improve algorithm.
Document 3-Daniel S.Coming and Oliver G.Staadt; Kinetic.Sweep and Prune for Collision Detection [A]; Workshop on Virtual Reality Interaction and Physical Simulation [C]; 2005 have proposed the bounding box technology; The core concept of level enclosure body method is bigger with volume and the complicated geometric object of description that the simple enclosure body of geometrical property is similar to, thereby only needs the overlapping object of enclosure body is carried out further intersecting test.Can more and more approach the geometric model of object through constructing tree-shaped hierarchical structure in addition, up to the geometric properties that almost completely obtains object.Based on the difference of the collision checking method of enclosure body be that the enclosure body type of tree node is different or adopt that different techniques is set up, renewal and balance enclosure body tree.Typical enclosure body has: axle alignment bounding box (AABB), encirclement ball (Sphere), oriented bounding box (OBB) and discrete oriented polyhedron k-DOP.Simple but the relative undertighten of encirclement degree of the above two calculating wherein, so and the method for OBB owing to consider axially surround tight relatively, but calculate relatively complicated.And the bounding box of K-DOPs algorithm computing object in global coordinate system, when object of which movement, its bounding volume hierarchy structure need recomputate.
In recent years, along with increasing rapidly of graphic hardware calculated performance, got into the stage of a new fast development based on the collision detection algorithm of image.This method is generally passed through projective rendering to the plane of delineation with the three-dimensional geometry object, and dimensionality reduction obtains the image space of a two dimension; Analyze the information that is kept at all kinds of buffer memorys in this space then, and then detect between the object and whether intersect.The advantage of this type algorithm is the calculated load that can effectively utilize the graphic hardware speed technology to alleviate, thereby reaches the purpose that improves efficiency of algorithm.
The self collision that hot research in recent years mainly concentrates on the deformable body object detects.Deformation can take place in deformable body object at the volley; Its enclosure body tree must be real-time rebuild or upgrade; And the time consumption that rebuilds whole data structure is unacceptable in a real-time simulated environment, therefore in level enclosure body method, must avoid rebuilding of whole tree.Study this characteristic according to different enclosure bodies and improve, the self collision that level enclosure body method also is used for the deformable body object detects.Document 4-A Smith; Y Kitamura; H Takemura; Et al.A Simple and Efficient Method for Accurate Collision Detection among Deformable Polyhedral Objects in Arbitrary Motion.The IEEE Virtual Reality Annual International Symposium, 1995,2:136-145 has proposed a kind of method of the solution deformable body object based on the AABB bounding box; Each step of this method is all recomputated the bounding box of object, and its shortcoming can not be calculated when model is complicated in real time.Document 5-Yashifumi Kitamura; Andrew Smith; Haruo Takemura.A Realtime Algorithm for Accurate Collision Detection for Deformable Polyhedral Objects.Presence, Vol.7, No.1; February 1998:36-52 has proposed a kind of self collision detection method that is used to solve the deformable body under the complex scene, and the essence of this algorithm is the bounding box method and the combining of spatial solution.The shortcoming of the method is to adopt the data structure of Octree complicated.Document 6-PROVOT; X.Collision and Self-collision Handling in Cloth Model Dedicated to Design Garment [A] .Graphics Interface [C]; 1997:177-189 has proposed normal vector awl method; Use with bounding box tree collocation, played the effect of beta pruning, filter out the tri patch zone that to intersect on a large scale.The right once accurate cap of tri patch in the continuous collision detection can be summed up as 6 point-faces and ask friendship and 9 Bian-Bian to ask friendship.Owing to exist geometric primitive by the phenomenon of adjacent tri patch to sharing; Accurately intersect test for fear of carrying out redundant geometric primitive; To each triangle to carry out a little-before face or limit-frontier inspection is surveyed; At first whether there has been the record that detected in the data query table, do not detected if then proceed.But the method memory cost of data query table is big, and system effectiveness is low.
Above-mentioned self collision detection method is got in touch not closely with user's demand, the module reusability of Real-time modeling set emulation, versatility and cloth emulation aspect is considered less, causes the user to use inconvenience, and the Modeling and Design cycle is long, brings inconvenience to R&D work.
Summary of the invention
Technology of the present invention is dealt with problems: for overcoming above-mentioned shortcoming; The invention provides a kind of self collision and detect data structure and method based on the triangle gridding deformable body; Can in the distortion of deformable bodies triangle grid model, motion simulation process, carry out self collision efficiently detects; Like the penetration-detection of human body and cloth in the animation simulation of dressing human body, the mutual self collision of (film special efficacy, game making) human body and virtual scene detects in the actual situation integrated environment.
The present invention adopts the self collision detection method based on the triangle gridding deformable body, and its characteristics are that step is following:
(1) structure is based on the data structure of level enclosure body;
(a) level enclosure body (BVH) each node of being configured to set is associated with a sub-set of object fundamental element, and encases the fundamental element of this subclass with the enclosure body of specified type.
(b) leaf node of BVH copies to bottom, expands into XBVH.
(2), realize detecting the pretreatment stage algorithm based on the self collision of star-like profile according to the data structure of the level enclosure body in the step (1);
(3) express form according to the data structure of the level enclosure body in the step (1), realize detecting the real time phase algorithm based on the self collision of star-like profile.
The present invention's advantage compared with prior art is: adopt level enclosure body pre-service self collision detection method, improve accuracy and efficient when detecting in real time; The distortion of research deformable body, the self collision detection method in the emulation animation are carried out module to self collision detection and deformation simulation independently, make it have extensive applicability; In cloth emulation, use this method, integrate, accelerated the self collision testing process of cloth emulation, improve emulation-self collision flow process efficiently with modeling tool.
Description of drawings
Fig. 1 is the projection algorithm synoptic diagram;
Fig. 2 detects and the simulation process basic flow sheet for self collision;
Fig. 3 is star-like profile self collision algorithm flow chart;
The conical area figure that Fig. 4 normal vector forms.
Embodiment
Practical implementation process of the present invention comprises step: based on the self collision of star-like profile detect pretreatment stage step, detect the step of real time phase based on the self collision of star-like profile, the invention allows for a kind of self collision detection algorithm and use towards the triangle gridding deformable body.As shown in Figure 3.
Algorithm of the present invention uses the triangle grid model of data for through three-dimensional laser scanner real model (like the horse of ceramic) being scanned and rebuilds.
Step 1: the main task of the pretreatment stage of star-like profile detection algorithm is to divide grid; Set up the needed data structure of follow-up judgement, data structure comprises: the level enclosure body (xBVH) of expansion, self collision detect tree (SCTT), the profile fragment woods (CSF).As shown in Figure 3.
(a) grid dividing and xBVH make up, and the data structure of xBVH node comprises usage vector awl method travel direction and tests desired data structure, the self-contained dough sheet information of xBVH node, and xBVH constitutes the necessary pointer information of binary tree.
The data structure of xBVH node can be represented as follows:
(b) self collision detects the structure of tree (SCTT): the node that adjacent dough sheet constitutes is the SCTT node, and non-conterminous sub-dough sheet is not the SCTT node to the node that constitutes.
(c) structure of bounding box test tree (BVTT): root node (the xBVH root.left that is defined as two node that comprised the xBVH root node BVTT; XBVH root.right); Root representes root node; Be the father node of all nodes, left representes the left child node of certain node, and right representes the right child node of certain node.Recursively define other nodes with following method.For the SCTT node (A, B), its child node collection is { (A.child, B.child) } (child representes all child nodes of node), wherein A.child and B.child are adjacent.In addition, if A has identical father node with B in xBVH, i.e. A.parent=B.parent (parent representes the father node of node), then (A.left is A.right) with (B.left B.right) also is its child node.The data structure of BVTT node can be represented as follows:
Step 2: the self collision detection real time phase algorithm steps based on star-like profile has:
Direction test: in the rough testing process of collision, from the top and the node of the tree of detection bounding box down as if the α＜pi/2 of this node corresponding region, can conclude that self collision does not take place in this piece zone, stop further detection; But if α >=pi/2 judges that then self collision possibly take place in this piece zone.So, whether the semi-cone angle α value through decision node judges self collision zone in whether take place greater than pi/2, and then whether decision continue to detect its child node, as shown in Figure 4.
The profile test: it has provided the projection of the profile fragment of a SCTT node A, and up-and-down boundary, and tests in such a way:
I. calculate the AABB bounding box of the profile fragment projection of A on the plane, promptly ask x, the y minimax coordinate on summit on the projection limit respectively;
Ii. the perpendicular bisector of selected AABB bounding box and middle horizontal line are at first judged perpendicular bisector L as scounting line;
Iii. the intersection point of the lower boundary of all holder fragments and L as t, the coboundary of all bottom fragments and the intersection point of L are as b;
If b＞t (regional area through at dough sheet carries out parametrization, sets up parametrization plane and coordinate system thereof) iv., dough sheet profile might self intersections, the profile test crash;
V. otherwise, between horizontal zone, calculate in fact and the crossing holder number of fragments of L through L relatively and holder fragment;
If vi. with a holder fragment s.top intersection point is arranged, and this fragment s do not have the bottom fragment, this dough sheet profile does not just have self intersection, and profile is tested successfully;
Vii. otherwise, this dough sheet profile might self intersection, because fragment s might Cheng Huan, has a more than top margin and L crossing;
If viii. the test crash of perpendicular bisector is tested the by-level line again.Do the operation in similar iii-vii step.
Bounding box test: utilize volume bigger and the simple bounding box of geometrical property wraps up the complex geometry object; When carrying out collision detection; At first carry out the crossing test between the bounding box, when having only bounding box to intersect, just the object that it wrapped up is further asked to hand over and calculate.And when the bounding box of structure collision body, introduce tree-shaped hierarchical structure, the element that quick rejecting does not bump reduces a large amount of unnecessary crossing tests, thereby improves collision detection efficient.
Primitive detects: for triangle surface, the primitive test detects promptly whether two triangles intersect in the space.Suppose to judge whether triangle ABC and triangle PQR intersect, and suppose that triangle ABC is on face e:
If three summits of triangle PQR are entirely in the same side of face e, then the two is non-intersect;
If triangle PQR and face e have intersection point, obtain its intersection point, crossing test changes into intersection point and the crossing 2D test of face e;
If have only an intersection point, put judgement with triangle intersect;
If two intersection points (perhaps limit of PQR is on face e) are arranged, carry out the judgement of limit and triangle intersect;
If triangle PQR also on face e, carries out the judgement of triangle and triangle intersect.
The exemplary application of the self collision detection algorithm towards the triangle gridding deformable body of the present invention is following:
(a) common deformable body motion simulation self collision detection module (like human body or animal model, adopt method drive motion, and self collision is detected introducing wherein) based on how much.In the process of whole deformable body motion; At pretreatment stage deformable body model is divided grid, put in order and set up level enclosure body BVH tree and self collision detection tree SCTT; And successively set up bounding box, calculate the prerequisite of the profile of dough sheet as the detection of real time phase self collision.At real time phase, utilize deformation algorithm that model is manually pulled or input time sequence frame make two kinds of methods of model sport carry out the motion simulation self collision to detect to deformable body.
(b) cloth motion simulation self collision detection module (method based on how much is not enough to show its real motion, so needs to adopt the method based on physics to drive its motion, and self collision is detected introducing wherein) comprises four steps.The first step is set up mechanical model to fabric, calculates the suffered external force of all nodes of fabric, according to fabric deformation calculating internal force; In second step, integral of motion is set up motion partial differential equation, calculates the motion state information of each frame of fabric node, comprises the position and the velocity information of fabric node; The 3rd step, according to the site position information that integration is obtained, carry out Constraints Processing, avoid the excessive deformation of fabric; The 4th step, according to the node speed that integration is obtained, carry out the continuity collision detection, the node that bumps is calculated collision response, revise the position and the speed of the point of impingement; At last, draw out current emulation textile image constantly, be brought into current position and velocity information in the simulation calculation of next frame and go according to the site position that finally calculates.
Claims (4)
1. self collision detection method based on the triangle gridding deformable body, said deformable body comprises muscle covering tissue or textile cloth, it is characterized in that following steps:
(1) foundation is based on the data structure of level enclosure body;
(2) self collision based on star-like profile detects pretreatment stage;
(3) self collision based on star-like profile detects real time phase.
2. the self collision detection method based on the triangle gridding deformable body according to claim 1 is characterized in that: the expression-form based on the data structure of level enclosure body in the said step (1) is:
(a) level enclosure body BVH each node of being configured to set is associated with a sub-set of object fundamental element, and encases the fundamental element of this subclass with the enclosure body of specified type;
(b) leaf node of BVH copies to bottom, expands into expansion level enclosure body XBVH.
3. the self collision detection method based on the triangle gridding deformable body according to claim 1 is characterized in that: the self collision detection pretreatment stage algorithm based on star-like profile in the said step (2) is:
(a) grid dividing and xBVH make up, and the data structure of xBVH node comprises that usage vector awl method travel direction tests desired data structure, the self-contained dough sheet information of xBVH node, and xBVH constitutes the pointer information of binary tree necessity;
(b) self collision detects the structure of tree SCTT: the node that adjacent dough sheet constitutes is the SCTT node, and non-conterminous sub-dough sheet is not the SCTT node to the node that constitutes;
(c) structure of bounding box test tree BVTT: the root node (xBVH root.left, xBVH root.right) that is defined as two node that comprised the xBVH root node BVTT; And recursively define other nodes: for the SCTT node (A, B), its child node collection is { (A.child, B.child) }, wherein A.child and B.child are adjacent; If A has identical father node with B in xBVH, i.e. A.parent=B.parent, then (A.left is A.right) with (B.left B.right) also is its child node.
4. the self collision detection method based on the triangle gridding deformable body according to claim 1 is characterized in that: the self collision based on star-like profile in the said step (3) detects the real time phase step:
Direction test: in the rough testing process of collision, from the top and the node of the tree of detection bounding box down, as if the α＜pi/2 of this node corresponding region, α is the semi-cone angle of node, concludes that then self collision does not take place in this piece zone, stops further detection; But if α >=pi/2 judges that then self collision possibly take place in this piece zone; So, whether the semi-cone angle α value through decision node judges self collision zone in whether take place greater than pi/2, and then whether decision continues to detect its child node;
Profile test: on the basis of two-dimensional projection's profile fragment of SCTT node A, calculate the lower boundary of profile top margin and the coboundary on base, said lower boundary is the minimum point of top margin, and said coboundary is the peak on base;
Bounding box test: utilize volume bigger and the simple bounding box of geometrical property wraps up the complex geometry object; When carrying out collision detection; At first carry out the crossing test between the bounding box, when having only bounding box to intersect, just the object that it wrapped up is further asked to hand over and calculate; And when the bounding box of structure collision body, introduce tree-shaped hierarchical structure, the element that quick rejecting does not bump reduces a large amount of unnecessary crossing tests;
Primitive detects: for triangle surface, the primitive test detects promptly whether two triangles intersect in the space.
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| CN114170385B (en) * | 2021-12-10 | 2022-08-16 | 北京优锘科技有限公司 | Method, apparatus, medium, and device for generating a mesh with holes in a model profile in real time |
| CN115272379A (en) * | 2022-08-03 | 2022-11-01 | 杭州新迪数字工程系统有限公司 | Projection-based three-dimensional grid model outline extraction method and system |
| CN115272379B (en) * | 2022-08-03 | 2023-11-28 | 上海新迪数字技术有限公司 | Projection-based three-dimensional grid model outline extraction method and system |
| CN115346005A (en) * | 2022-10-19 | 2022-11-15 | 中国空气动力研究与发展中心计算空气动力研究所 | Data structure construction method for object plane grid based on nested bounding box concept |
| CN115346005B (en) * | 2022-10-19 | 2023-03-28 | 中国空气动力研究与发展中心计算空气动力研究所 | Data structure construction method for object plane grid based on nested bounding box concept |
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