CN105160701B - A kind of triangle applied to remote operating three dimensional visual simulation intersects detection method - Google Patents
A kind of triangle applied to remote operating three dimensional visual simulation intersects detection method Download PDFInfo
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Abstract
The invention discloses a kind of triangle applied to remote operating three dimensional visual simulation to intersect detection method, for the fine collision detection of three-dimensional graphical model, it is proposed that a kind of New triangular test for intersection algorithm.Compared with traditional triangle shape test for intersection algorithm, the present invention, which is not present, exchanges the step of two triangle is recalculated, so as to save a large amount of evaluation works by the result of calculation for reusing same triangle, the speed of the fine collision detection of three-dimensional graphical model is improved on the whole.
Description
Technical field
The invention belongs to virtual reality and the three-dimensional artificial display field of Space teleoperation, it is related to a kind of figure collision detection
A kind of method, and in particular to triangle applied to remote operating three dimensional visual simulation intersects detection method.
Background technology
Remote operating is played an important role in Spatial powers combining field, and each space-like is completed using robot for space and is appointed
Business is that the technology such as spatial developing tendency, obstacle avoidance has epochmaking application prospect.Yet with the presence of time delay, hysteresis
The feedback informations such as vision, power feel can not provide real-time telepresenc for operator, easily mislead the operation behavior of operator, and then
Influence the safety execution of remote operating task.
Teleoperation sixty-four dollar question is to overcome time delay, the telepresenc of lifting operation person, therefore uses predictive simulation
Technology comes out the forecast model of operation object by three dimensional graph display, and operator interacts with forecast model.Due to operator
It is not delayed between the robot model of Virtual Space, therefore Virtual Space robot model can make an immediate response the defeated of operator
Enter, compensate for influence of the time delay to operator.
But, it is ensured that the real-time that operator interacts with forecast model, depending on the speed that model emulation calculates, and scheme
Shape predicts that most time-consuming part is collision detection, when model needs to carry out fine collision detection, collision detection take it is longer,
And fine collision detection requirement carries out test for intersection to each pair triangle surface of model.
The content of the invention
It is an object of the invention to solve above-mentioned the problems of the prior art, there is provided one kind is applied to remote operating three-dimensional vision
The triangle of emulation intersects detection method.
To achieve these goals, the present invention is achieved using following technical scheme：
A kind of triangle applied to remote operating three dimensional visual simulation intersects detection method, if two three dimensions is any
Triangle Δ P1P2P3With Δ Q1Q2Q3, its summit P1、P2、P3And Q1、Q2、Q3It is sequence counter-clockwise, wherein, triangle Δ
P1P2P3To surround the triangle surface that hand grabs model, Δ Q1Q2Q3To surround the triangle that hand grabs the forecast model of model manipulation object
Shape dough sheet, specific detection method comprise the following steps：
Step 1：Establish coordinates computed system
With Δ P1P2P3Summit P1For origin, p1With p2Respectively two base vectors, establish x*y*Plane, wherein p1=P2-
P1, p2=P3-P1；p1、p2And its normal vector p1×p2Form coordinate system x*y*z*Three base vectors, calculate [p1 p2 p1×p2]
Inverse matrix be [p1 p2 p1×p2]-1, travel through the triangle surface of forecast model；
Step 2：Apex coordinate converts
If Δ Q1Q2Q3Summit QiIn coordinate system x*y*z*Under coordinate be Qi *, then：
Wherein 1≤i≤3 represent three summits, Qix、Qiy、QizRepresent QiThree components,Represent Qi *
Three components；
Step 3：Judge Δ Q1Q2Q3With Δ P1P2P3The position relationship of place plane
Judge Qi *Z*Component, wherein 1≤i≤3：
IfThree values are 0, then Δ Q1Q2Q3With Δ P1P2P3It is coplanar, the coplanar mark of two triangle is returned, continues to travel through
The triangle surface of object module, perform step 2；
IfThree are worth equal jack per lines, then Δ Q1Q2Q3With Δ P1P2P3It is non-intersect, the non-intersect mark of two triangle is returned, after
The triangle surface of continuous traversal object module, performs step 2；
IfOnly one value is 0 and its residual value jack per line, then Δ Q1Q2Q3With Δ P1P2P3It is non-intersect, return to two triangle
Non-intersect mark, continue to travel through the triangle surface of object module, perform step 2；
IfIt is 0 to have two values, then Δ Q1Q2Q3With Δ P1P2P3It is non-intersect, the non-intersect mark of two triangle is returned, is continued
The triangle surface of object module is traveled through, performs step 2；
IfIt is worth contrary signs in the presence of two, then Δ Q1Q2Q3With Δ P1P2P3Place plane intersects, and performs step 4；
Step 4：Calculate Δ Q1Q2Q3With Δ P1P2P3The intersection point of place plane
IfSymbol be different fromWith, make original Q2 *For Q1 *, Q3 *For Q2 *, Q1 *For Q3 *；
IfSymbol be different fromWith, make original Q3 *For Q1 *, Q1 *For Q2 *, Q2 *For Q3 *；
If Δ Q1Q2Q3Two sides and Δ P1P2P3Intersection point be, then
Wherein
Step 5：Intersection sectionWith Δ P1P2P3Intersecting judgement
JudgeCoordinate relation：
If Then Δ P1P2P3
With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
If Then Δ P1P2P3With Δ
Q1Q2Q3It is intersecting, terminate intersecting detection；
If Then Δ P1P2P3
With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
If
Then Δ P1P2P3With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
If Then Δ P1P2P3With
ΔQ1Q2Q3It is intersecting, terminate intersecting detection；
If Then Δ P1P2P3With
ΔQ1Q2Q3It is intersecting, terminate intersecting detection；
IfThen Δ P1P2P3With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
If seven conditions of the above, Δ P are not met1P2P3With Δ Q1Q2Q3It is non-intersect, return to the non-intersect mark of two triangle
Know, continue to travel through the triangle surface of object module, perform step 2.
Compared with prior art, the invention has the advantages that：
The ordinary circumstance that the present invention intersects collision detection for triangle is judged, any two from calculating three dimensions
The principle whether individual triangle intersects is set out, the intersection of plane where the present invention first calculates two triangles, then judge intersection with
Whether one of triangle intersects to simplify the more complicated judgment criterion of original algorithm.Compared to traditional algorithm, the present invention does not deposit
The step of two triangle is recalculated is being exchanged, so as to be saved largely by the result of calculation for reusing same triangle
Evaluation work, the speed of the fine collision detection of three-dimensional graphical model is improved on the whole.The present invention is directed to singularity, such as collides
Contacted with triangle but the special circumstances such as do not penetrate and also possess preferable solution, be in threedimensional model predictive simulation relative into
Ripe algorithm.
Brief description of the drawings
Fig. 1 is that the present invention establishes coordinates computed system schematic diagram；
Fig. 2 is the collision detection flow chart of the present invention.
Embodiment
The present invention will be further described in detail below in conjunction with the accompanying drawings.
Referring to Fig. 1 and Fig. 2, present embodiment describes at one in manipulator remote operating scene, using triangle of the present invention
Shape intersects detection algorithm, travels through the triangle surface of paw model, performs following steps.
Step 1：Establish coordinates computed system
Note triangle surface is Δ P1P2P3, summit P1、P2、P3For sequence counter-clockwise.Make p1=P2-P1, p2=P3-P1, solution
Obtain [p1 p2 p1×p2]-1。
The triangle surface of object module is traveled through, performs following steps.
Step 2：Apex coordinate converts
Note triangle surface is Δ Q1Q2Q3, summit Q1、Q2、Q3For sequence counter-clockwise.
CalculateWherein 1≤i≤3 represent three summits.
Step 3：Judge Δ Q1Q2Q3With Δ P1P2P3The position relationship of place plane
Judge Qi *Z*Component, wherein 1≤i≤3：
(1) ifThree values are 0, return to the coplanar mark of two triangle, continue to travel through the gore of object module
Piece, perform step 2；
(2) ifThree equal jack per lines of value, return to the non-intersect mark of two triangle, continue to travel through the triangle of object module
Dough sheet, perform step 2；
(3) ifOnly one value its residual value jack per line for 0, returns to the non-intersect mark of two triangle, continues to travel through target
The triangle surface of model, perform step 2；
(4) ifIt is 0 to have two values, returns to the non-intersect mark of two triangle, continues to travel through the gore of object module
Piece, perform step 2；
(5) ifIn the presence of two value contrary signs, step 4 is carried out；
Step 4：Calculate Δ Q1Q2Q3With Δ P1P2P3The intersection point of place plane
(1) ifSymbol be different fromWith, make original Q2 *For Q1 *, Q3 *For Q2 *, Q1 *For Q3 *；
(2) ifSymbol be different fromWith, make original Q3 *For Q1 *, Q1 *For Q2 *, Q2 *For Q3 *。
Order
Step 5：Intersection sectionWith Δ P1P2P3Intersecting judgement
(1) if Then
ΔP1P2P3With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
(2) if Then Δ P1P2P3With
ΔQ1Q2Q3It is intersecting, terminate intersecting detection；
(3) if Then Δ P1P2P3
With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
(4) if
Then Δ P1P2P3With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
(5) if Then Δ P1P2P3
With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
(6) if Then Δ P1P2P3
With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
(7) ifThen Δ P1P2P3With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
(8) if not meeting seven conditions of the above, Δ P1P2P3With Δ Q1Q2Q3It is non-intersect, it is non-intersect to return to two triangle
Mark, continue to travel through the triangle surface of object module, perform step 2.
The technological thought of above content only to illustrate the invention, it is impossible to protection scope of the present invention is limited with this, it is every to press
According to technological thought proposed by the present invention, any change done on the basis of technical scheme, claims of the present invention is each fallen within
Protection domain within.
Claims (1)
1. a kind of triangle applied to remote operating three dimensional visual simulation intersects detection method, it is characterised in that sets two three-dimensionals
The arbitrary triangle Δ P in space1P2P3With Δ Q1Q2Q3, its summit P1、P2、P3And Q1、Q2、Q3It is sequence counter-clockwise, wherein, three
Angular Δ P1P2P3To surround the triangle surface that hand grabs model, Δ Q1Q2Q3To surround the forecast model that hand grabs model manipulation object
Triangle surface, specific detection method comprises the following steps：
Step 1：Establish coordinates computed system
With Δ P1P2P3Summit P1For origin, p1With p2Respectively two base vectors, establish x*y*Plane, wherein p1=P2-P1, p2
=P3-P1；p1、p2And its normal vector p1×p2Form coordinate system x*y*z*Three base vectors, calculate [p1 p2 p1×p2] it is inverse
Matrix is [p1 p2 p1×p2]-1, travel through the triangle surface of forecast model；
Step 2：Apex coordinate converts
If Δ Q1Q2Q3Summit QiIn coordinate system x*y*z*Under coordinate be Qi *, then：
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Wherein 1≤i≤3 represent three summits, Qix、Qiy、QizRepresent QiThree components,Represent Qi *Three
Individual component；
Step 3：Judge Δ Q1Q2Q3With Δ P1P2P3The position relationship of place plane
Judge Qi *Z*ComponentWherein 1≤i≤3：
IfThree values are 0, then Δ Q1Q2Q3With Δ P1P2P3It is coplanar, the coplanar mark of two triangle is returned, continues to travel through target
The triangle surface of model, perform step 2；
IfThree are worth equal jack per lines, then Δ Q1Q2Q3With Δ P1P2P3It is non-intersect, the non-intersect mark of two triangle is returned, continues to travel through
The triangle surface of object module, perform step 2；
IfOnly one value is 0 and its residual value jack per line, then Δ Q1Q2Q3With Δ P1P2P3It is non-intersect, it is non-intersect to return to two triangle
Mark, continue to travel through the triangle surface of object module, perform step 2；
IfIt is 0 to have two values, then Δ Q1Q2Q3With Δ P1P2P3It is non-intersect, the non-intersect mark of two triangle is returned, continues to travel through
The triangle surface of object module, perform step 2；
IfIt is worth contrary signs in the presence of two, then Δ Q1Q2Q3With Δ P1P2P3Place plane intersects, and performs step 4；
Step 4：Calculate Δ Q1Q2Q3With Δ P1P2P3The intersection point of place plane
IfSymbol be different fromWithMake original Q2 *For Q1 *, Q3 *For Q2 *, Q1 *For Q3 *；
IfSymbol be different fromWithMake original Q3 *For Q1 *, Q1 *For Q2 *, Q2 *For Q3 *；
If Δ Q1Q2Q3Two side Q1Q2、Q1Q3Place straight line and Δ P1P2P3The intersection point in place face is respectivelyThen
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Wherein
Step 5：Intersection sectionWith Δ P1P2P3Intersecting judgement
JudgeCoordinate relation：
IfThen Δ P1P2P3
With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
IfThen Δ P1P2P3With Δ Q1Q2Q3Phase
Hand over, terminate intersecting detection；
IfThen Δ P1P2P3With
ΔQ1Q2Q3It is intersecting, terminate intersecting detection；
IfThen
ΔP1P2P3With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
IfThen Δ P1P2P3With Δ
Q1Q2Q3It is intersecting, terminate intersecting detection；
IfThen Δ P1P2P3With Δ
Q1Q2Q3It is intersecting, terminate intersecting detection；
IfThen Δ P1P2P3With Δ Q1Q2Q3It is intersecting, terminate intersecting detection；
If seven conditions of the above, Δ P are not met1P2P3With Δ Q1Q2Q3It is non-intersect, the non-intersect mark of two triangle is returned, after
The triangle surface of continuous traversal object module, performs step 2.
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| CN110955986B (en) * | 2019-12-27 | 2023-02-28 | 广州机械科学研究院有限公司 | Triangular object contact detection method, system and device and storage medium |
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