CN102722910A - Volume mesh scene continuous collision detection method based on separation axis removal - Google Patents
Volume mesh scene continuous collision detection method based on separation axis removal Download PDFInfo
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Abstract
The invention discloses a volume mesh scene continuous collision detection method based on separation axis removal, comprising the steps that: (1) a bounding box hierarchical structure is built; (2) BVTT is built and a bounding box overlapping test is carried out on the BVTT; and (3) a precise collision test is carried out on a volume mesh unit after the separation axis removal. During the stage of the precise collision test, the separation axis is used to remove correspondent collision cases. As the separation axis has a high test and removal efficiency, and a quick test speed, the continuous collision detection efficiency is improved, the number of the precise collision test is greatly reduced, the overall speed of the continuous collision test is greatly accelerated and a good compatibility is ensured.
Description
Technical field
The invention belongs to the COMPUTER DETECTION technical field, be specifically related to a kind of volume mesh scene method for detecting continuous collision of rejecting based on release shaft.
Background technology
Continuous collision detection based on the volume mesh model is widely used in the different techniques field; Comprise engineering emulation, physical phenomenon simulation, video-game etc.; It uses at the uniform velocity linear interpolation track, and inspected object is contingent collision situation between two discrete locations.
Present most widely used method for detecting continuous collision is to utilize bounding volume hierarchy structure (BVH), earlier whole scene is carried out the bounding box overlap test, when detecting two bounding boxs when non-intersect, stops to travel through the child node of this node.Various BVH; Set like ball (Sphere); Axle alignment bounding box (AABB) tree, directed bounding box (OBB) tree, discrete directed polyhedron (k-DOP) tree etc.; These hierarchical structures adopt top-down method to construct usually, are widely used in the collision detection of veil lattice or volume mesh object model.For the volume mesh object model, because its inner structure is complicated, except needs were considered the compactedness of bounding box, the efficient of bounding box arrangement and reconstruct was also most important.Fig. 1 is the synoptic diagram of AABB, 8-DOP and three kinds of bounding boxs of OBB, and for simple bounding box, like Sphere, AABB, its arrangement and structure are very quick, but compactedness is relatively poor; For the bounding box of complicacy, like OBB, though comparatively compact, the calculated amount of arrangement and structure is bigger; Select as compromise, k-DOP has compactedness and high efficiency concurrently, therefore often is used as the bounding volume hierarchy structure, even but used the compactest bounding box, the rejecting rate is still not high.
Therefore; Exist overlapping bounding box right for what the bounding box overlap test was exported; Classic method judges through accurate collision detection whether bounding box to pairing two individual grid cells (triangular pyramid) collision has taken place, and accurately collision detection process can be decomposed into the detection of 68 kinds of collision situations: collision detection between collision detection and the 36 kinds of limit/limits between 32 kinds of summit/gores.And each element test need be found the solution the root of a cubic equation at least, and 68 kinds of situation need be found the solution 68 cubic equations and Rule of judgment that some are additional, so the computing time of this process need labor.
Summary of the invention
To the above-mentioned technological deficiency of existing in prior technology; The invention provides a kind of volume mesh scene method for detecting continuous collision of rejecting based on release shaft; Through in accurate collision detection stage; Utilize release shaft to reject corresponding collision situation, reduced the number of times of accurate collision detection, improved the speed of collision detection.
A kind of volume mesh scene method for detecting continuous collision of rejecting based on release shaft comprises the steps:
(1) bounding box corresponding to each the volume mesh unit structure in the volume mesh model of place to be detected, and then set up the bounding volume hierarchy structure of volume mesh model of place;
(2), make up bounding box test tree (BVTT) according to described bounding volume hierarchy structure; Described bounding box test tree is carried out the bounding box overlap test, and there is the overlapping leaf node of bounding box in output;
(3) detection is rejected to carrying out release shaft in the corresponding volume mesh unit of the leaf node of output, the collision situation that keeps after rejecting is carried out accurate collision detection.
Described release shaft rejecting detects and comprises a little/face release shaft rejecting detection and limit/limit release shaft rejecting detection.
Described point/face release shaft is rejected the method that detects: at first, obtain the three-dimensional information of triangle to be detected and measuring point P to be checked, make a, b, c be respectively leg-of-mutton three summits to be detected; Described three-dimensional information comprises the three-dimensional coordinate of the three-dimensional coordinate on previous moment and each summit of current time triangle to be detected, measuring point P to be checked, leg-of-mutton normal vector to be detected; Then, judge following six detect scalar value: A, B, C, D, E, whether symbol is all identical for F: if then reject the collision situation of triangle to be detected and measuring point to be checked; If not, the collision situation that then keeps triangle to be detected and measuring point to be checked; Wherein: A=(a
0-p
0) L
0, B=(a
1-p
1) L
1, C=(b
0-p
0) L
0, D=(b
1-p
1) L
1, E=(c
0-p
0) L
0, F=(c
1-p
1) L
1a
0, b
0, c
0Be respectively the three-dimensional coordinate of a previous moment Atria to be detected summit a, b, c, a
1, b
1, c
1Be respectively the three-dimensional coordinate of a current time Atria to be detected summit a, b, c, p
0And p
1Be respectively the three-dimensional coordinate of previous moment and current time measuring point P to be checked, L
0And L
1Be respectively previous moment and current time leg-of-mutton normal vector to be detected.
Described limit/limit release shaft is rejected the method that detects: at first, obtain the three-dimensional information on two limits to be detected, make a and b be respectively two end points on a limit to be detected, c and d are respectively two end points on another limit to be detected; Described three-dimensional information comprises the three-dimensional coordinate of previous moment and each end points of current time limit to be detected; Then, judge following eight detect scalar value: A, B, C, D, E, F, G, whether symbol is all identical for H: if then reject the collision situation on two limits to be detected; If not, the collision situation that then keeps two limits to be detected; Wherein: A=(a
0-c
0) K
0, B=(a
1-c
1) K
1, C=(b
0-c
0) K
0, D=(b
1-c
1) K
1, E=(a
0-d
0) K
0, F=(a
1-d
1) K
1, G=(b
0-d
0) K
0, F=(b
1-d
1) K
1, K
0=(b
0-a
0) * (c
0-d
0), K
1=(b
1-a
1) * (c
1-d
1); a
0, b
0, c
0, d
0Be respectively the three-dimensional coordinate of four end points a of previous moment, b, c, d, a
1, b
1, c
1, d
1Be respectively the three-dimensional coordinate of four end points a of current time, b, c, d.
For the accurate collision detection of point/face or limit/limit; Need to carry out 164 sub-additions, 245 multiplication and 9 divisions; And accurately using release shaft to reject the collision situation that can not take place before the collision detection; Average 48 sub-additions and 42 multiplication of only needing, historical facts or anecdotes verify that bright point/face and limit/limit release shaft rejecting detection have good rejecting efficient, can improve collision detection speed.
In the optimized technical scheme; When carrying out the n time collision detection; Described bounding volume hierarchy structure is the locus according to the n time each volume mesh unit of the collision detection moment; Bounding box to the bottom in the bounding volume hierarchy structure of last collision detection process carries out reconstruct, and then bottom-up bounding volume hierarchy structure to last collision detection process puts in order to upgrade and form, and n is the natural number greater than 1; Improved collision detection speed accordingly.
In the optimized technical scheme, when carrying out the n time collision detection, described bounding box test tree is the tree of the bounding box test in the last collision detection process; Need not to rebuild, improved collision detection speed accordingly.
In the optimized technical scheme, described bounding box is the 16-DOP bounding box, has guaranteed the high efficiency of collision detection process.
The present invention utilizes release shaft to reject corresponding collision situation through in the accurate collision detection stage, rejects the efficient height because release shaft rejects to detect; Detection speed is fast; Significantly reduced the number of times of accurate collision detection, promoted the whole speed of collision detection, and had good compatibility.
Description of drawings
Fig. 1 (a) is the synoptic diagram of AABB bounding box, and Fig. 1 (b) is the synoptic diagram of 8-DOP bounding box, and Fig. 1 (c) is the synoptic diagram of OBB bounding box.
Fig. 2 is the steps flow chart synoptic diagram of method for detecting continuous collision of the present invention.
Fig. 3 (a) is the structural representation of BVH, and Fig. 3 (b) is the structural representation of BVTT.
Fig. 4 (a) be a little/the face release shaft rejects following of test and leg-of-mutton relative motion synoptic diagram.
Fig. 4 (b) is the relative motion synoptic diagram that limit/limit release shaft is rejected test bottom and limit.
Embodiment
In order to describe the present invention more particularly, method for detecting continuous collision of the present invention is elaborated below in conjunction with accompanying drawing and embodiment.
As shown in Figure 2, a kind of volume mesh scene method for detecting continuous collision of rejecting based on release shaft comprises the steps:
(1) makes up the bounding volume hierarchy structure.
Corresponding 16-DOP bounding box is constructed in each volume mesh unit (triangular pyramid) in the volume mesh model of place to be detected, and then sets up the bounding volume hierarchy structure of volume mesh model of place; When carrying out the n time collision detection; The bounding volume hierarchy structure is the locus according to the n time each volume mesh unit of the collision detection moment; 16-DOP bounding box to the bottom in the bounding volume hierarchy structure in the last collision detection process carries out reconstruct; And then bottom-up bounding volume hierarchy structure in the last collision detection process is put in order to upgrade form, n is the natural number greater than 1.
Be the corresponding 16-DOP bounding box of each volume mesh unit structure: at first projection is carried out on the summit of besieged volume mesh unit respectively on all directions; Judge then whether these projections drop on the outside of bounding box; If drop on the bounding box outside; Need adjust the scope of bounding box on this direction, guarantee that this projection drops on the border just; For the 16-DOP bounding box, 16 comparisons all need be done in any one summit, volume mesh unit, judge whether this point drops on bounding box inside.
The 16-DOP bounding box that each volume mesh unit is corresponding is as the 16-DOP bounding box of the bottom among the BVH.In first time during collision detection; Adopt top-down method to make up BVH; At first calculate the center of these volume mesh unit, these volume mesh unit centers are projected on certain coordinate axis of rectangular coordinate system, positive and negative according to projection; Can be respectively their structure bounding boxs to they separated into two parts.Adopt then in the same way, these two bounding boxs are segmented, in bounding box, only comprise an individual grid cell.Shown in Fig. 3 (a), by a scenario A of forming by a, b, c, d four individual grid cells
1, at first calculate the center of these volume mesh unit, these volume mesh unit centers are projected on certain coordinate axis, positive and negative according to projection can be they separated into two parts, and a part is designated as B
1, another part is designated as B
2, be respectively B
1And B
2The structure bounding box.Adopt then in the same way, to B
1, B
2Segment, in bounding box, only comprise an individual grid cell.
In collision detection process subsequently, only need the bounding box size of the non-bottom among the BVH be recomputated.This is a bottom-up computation process, need two of each non-bottom be merged into a big 16-DOP bounding box by sub-16-DOP bounding box.
(2) make up BVTT, BVTT is carried out the bounding box overlap test.
According to the bounding volume hierarchy structure, make up BVTT; BVTT is carried out the bounding box overlap test, and there is the overlapping leaf node of bounding box in output; When carrying out the n time collision detection, the bounding box test tree is the tree of the bounding box test in the last collision detection process.
At first, adopt top-down construction method structure BVTT, as shown in Figure 3, in Fig. 3 (a), whole scene has been constructed a BVH; Correspondingly, Fig. 3 (b) is exactly a BVTT who makes up to Fig. 3 (a) scene.
Root node (the A of BVTT
1, A
1) be exactly A
1Self collision detect rightly, extract A then
1Two sub-bounding box B
1And B
2, respectively to B
1And B
2Do self collision and detect, also need detect B in addition
1And B
2Between whether bump, promptly relatively whether have overlapping between two 16-DOP bounding boxs.This process may be summarized to be: relatively whether two bounding boxs have common factor on these 16 directions; If on certain direction, do not have overlappingly, then stop comparison and judge that two bounding boxs do not have overlapping.If on all directions, all have overlapping, and B
1Sub-bounding box a and b are arranged, then adopt and treatments B
1And B
2Identical method is judged B
1Two sub-bounding box a and b whether with B
2Bump; If on all directions, all have overlapping, and B
1There is not sub-bounding box, but B
2Sub-bounding box c and d are arranged, then with treatments B
1And B
2Identical method is judged B
2Two sub-bounding box c and d whether with B
1Bump; If on all directions, all have overlapping, and B
1And B
2Be bottom bounding box all, do not had sub-bounding box, output B
1With B
2Corresponding leaf node.
(3) the volume mesh unit is carried out accurate collision detection after adopting release shaft to reject.
Accurately collision detection process comprises the detection of 68 kinds of collision situations: collision detection between collision detection and the 36 kinds of limit/limits between 32 kinds of point/gores.Detection is rejected to carrying out release shaft earlier in volume mesh unit to the leaf node of output is corresponding, and the collision situation that keeps after rejecting is carried out accurate collision detection.
The release shaft rejecting detects and comprises a little/face release shaft rejecting detection and limit/limit release shaft rejecting detection.
Point/face release shaft is rejected the method that detects: at first, obtain the three-dimensional information of triangle to be detected and measuring point P to be checked, make a, b, c be respectively leg-of-mutton three summits to be detected; Three-dimensional information comprises the three-dimensional coordinate of the three-dimensional coordinate on previous moment and each summit of current time triangle to be detected, measuring point P to be checked, leg-of-mutton normal vector to be detected; Then, judge following six detect scalar value: A, B, C, D, E, whether symbol is all identical for F: if then reject the collision situation of triangle to be detected and measuring point to be checked; If not, then keep the collision situation of triangle to be detected and measuring point to be checked, shown in Fig. 4 (a); Wherein: A=(a
0-p
0) L
0, B=(a
1-p
1) L
1, C=(b
0-p
0) L
0, D=(b
1-p
1) L
1, E=(c
0-p
0) L
0, F=(c
1-p
1) L
1a
0, b
0, c
0Be respectively the three-dimensional coordinate of a previous moment Atria to be detected summit a, b, c, a
1, b
1, c
1Be respectively the three-dimensional coordinate of a current time Atria to be detected summit a, b, c, p
0And p
1Be respectively the three-dimensional coordinate of previous moment and current time measuring point P to be checked, L
0And L
1Be respectively previous moment and current time leg-of-mutton normal vector to be detected, L
0=(b
0-a
0) * (c
0-a
0), L
1=(b
1-a
1) * (c
1-a
1).
Limit/limit release shaft is rejected the method that detects: at first, obtain the three-dimensional information on two limits to be detected, make a and b be respectively two end points on a limit to be detected, c and d are respectively two end points on another limit to be detected; Three-dimensional information comprises the three-dimensional coordinate of previous moment and each end points of current time limit to be detected; Then, judge following eight detect scalar value: A, B, C, D, E, F, G, whether symbol is all identical for H: if then reject the collision situation on two limits to be detected; If not, then keep the collision situation on two limits to be detected, shown in Fig. 4 (b); Wherein: A=(a
0-c
0) K
0, B=(a
1-c
1) K
1, C=(b
0-c
0) K
0, D=(b
1-c
1) K
1, E=(a
0-d
0) K
0, F=(a
1-d
1) K
1, G=(b
0-d
0) K
0, F=(b
1-d
1) K
1, K
0=(b
0-a
0) * (c
0-d
0), K
1=(b
1-a
1) * (c
1-d
1); a
0, b
0, c
0, d
0Be respectively the three-dimensional coordinate of four end points a of previous moment, b, c, d, a
1, b
1, c
1, d
1Be respectively the three-dimensional coordinate of four end points a of current time, b, c, d.
At last the collision situation of rejecting the back reservation is carried out accurate collision detection; Use element test to carry out accurate Calculation, obtain colliding first collision time of generation.
Below test out this embodiment and conventional butt detection method in the data that detect on the index of correlation such as consuming time and accurate collision detection number of times through related experiment, as shown in table 1.
Table 1:
This shows; This embodiment through the volume mesh unit that utilizes the release shaft elimination method and needs are carried out accurate collision detection to carrying out pre-service earlier; Get rid of corresponding collision situation, improved the efficient of continuous collision detection, significantly reduced the number of times of accurate collision detection; And then accelerated the speed of continuous collision detection greatly, have favorable compatibility.
Claims (7)
1. a volume mesh scene method for detecting continuous collision of rejecting based on release shaft comprises the steps:
(1) bounding box corresponding to each the volume mesh unit structure in the volume mesh model of place to be detected, and then set up the bounding volume hierarchy structure of volume mesh model of place;
(2), make up the bounding box test tree according to described bounding volume hierarchy structure; Described bounding box test tree is carried out the bounding box overlap test, and there is the overlapping leaf node of bounding box in output;
(3) detection is rejected to carrying out release shaft in the corresponding volume mesh unit of the leaf node of output, the collision situation that keeps after rejecting is carried out accurate collision detection.
2. the volume mesh scene method for detecting continuous collision based on the release shaft rejecting according to claim 1 is characterized in that: described release shaft rejecting detects and comprises a little/face release shaft rejecting detection and limit/limit release shaft rejecting detection.
3. volume mesh scene method for detecting continuous collision of rejecting according to claim 2 based on release shaft; It is characterized in that: described point/face release shaft is rejected the method that detects and is: at first; Obtain the three-dimensional information of triangle to be detected and measuring point P to be checked, make a, b, c be respectively leg-of-mutton three summits to be detected; Described three-dimensional information comprises the three-dimensional coordinate of the three-dimensional coordinate on previous moment and each summit of current time triangle to be detected, measuring point P to be checked, leg-of-mutton normal vector to be detected; Then, judge following six detect scalar value: A, B, C, D, E, whether symbol is all identical for F: if then reject the collision situation of triangle to be detected and measuring point to be checked; If not, the collision situation that then keeps triangle to be detected and measuring point to be checked; Wherein: A=(a
0-p
0) L
0, B=(a
1-p
1) L
1, C=(b
0-p
0) L
0, D=(b
1-p
1) L
1, E=(c
0-p
0) L
0, F=(c
1-p
1) L
1a
0, b
0, c
0Be respectively the three-dimensional coordinate of a previous moment Atria to be detected summit a, b, c, a
1, b
1, c
1Be respectively the three-dimensional coordinate of a current time Atria to be detected summit a, b, c, p
0And p
1Be respectively the three-dimensional coordinate of previous moment and current time measuring point P to be checked, L
0And L
1Be respectively previous moment and current time leg-of-mutton normal vector to be detected.
4. volume mesh scene method for detecting continuous collision of rejecting according to claim 2 based on release shaft; It is characterized in that: described limit/limit release shaft is rejected the method that detects and is: at first; Obtain the three-dimensional information on two limits to be detected; Make a and b be respectively two end points on a limit to be detected, c and d are respectively two end points on another limit to be detected; Described three-dimensional information comprises the three-dimensional coordinate of previous moment and each end points of current time limit to be detected; Then, judge following eight detect scalar value: A, B, C, D, E, F, G, whether symbol is all identical for H: if then reject the collision situation on two limits to be detected; If not, the collision situation that then keeps two limits to be detected; Wherein: A=(a
0-c
0) K
0, B=(a
1-c
1) K
1, C=(b
0-c
0) K
0, D=(b
1-c
1) K
1, E=(a
0-d
0) K
0, F=(a
1-d
1) K
1, G=(b
0-d
0) K
0, F=(b
1-d
1) K
1, K
0=(b
0-a
0) * (c
0-d
0), K
1=(b
1-a
1) * (c
1-d
1); a
0, b
0, c
0, d
0Be respectively the three-dimensional coordinate of four end points a of previous moment, b, c, d, a
1, b
1, c
1, d
1Be respectively the three-dimensional coordinate of four end points a of current time, b, c, d.
5. volume mesh scene method for detecting continuous collision of rejecting according to claim 1 based on release shaft; It is characterized in that: when carrying out the n time collision detection; Described bounding volume hierarchy structure is the locus according to the n time each volume mesh unit of the collision detection moment; Bounding box to the bottom in the bounding volume hierarchy structure of last collision detection process carries out reconstruct; And then bottom-up bounding volume hierarchy structure to last collision detection process puts in order to upgrade and forms, and n is the natural number greater than 1.
6. volume mesh scene method for detecting continuous collision of rejecting based on release shaft according to claim 1 is characterized in that: when carrying out the n time collision detection, described bounding box test tree is the tree of the bounding box test in the last collision detection process.
7. volume mesh scene method for detecting continuous collision of rejecting based on release shaft according to claim 1, it is characterized in that: described bounding box is the 16-DOP bounding box.
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| CN103324784A (en) * | 2013-05-30 | 2013-09-25 | 杭州电子科技大学 | Grid model collision handling method based on local restriction |
| US10948300B2 (en) | 2018-12-27 | 2021-03-16 | Beijing Voyager Technology Co., Ltd. | Systems and methods for path determination |
| CN112669434A (en) * | 2020-12-21 | 2021-04-16 | 山东华数智能科技有限公司 | Collision detection method based on grid and bounding box |
| CN112802203A (en) * | 2021-01-18 | 2021-05-14 | 华中科技大学鄂州工业技术研究院 | Spatial hash continuous collision detection method based on features |
| CN112932662A (en) * | 2021-02-01 | 2021-06-11 | 威海威高骨科手术机器人有限公司 | Reset position detection method with patient safety protection function |
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| CN112932662A (en) * | 2021-02-01 | 2021-06-11 | 威海威高骨科手术机器人有限公司 | Reset position detection method with patient safety protection function |
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| CN102722910B (en) | 2014-08-13 |
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