CN107885912A - A kind of Fast Collision Detection Algorithm of magnanimity underground utilities - Google Patents
A kind of Fast Collision Detection Algorithm of magnanimity underground utilities Download PDFInfo
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- CN107885912A CN107885912A CN201711004000.9A CN201711004000A CN107885912A CN 107885912 A CN107885912 A CN 107885912A CN 201711004000 A CN201711004000 A CN 201711004000A CN 107885912 A CN107885912 A CN 107885912A
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- G06F30/18—Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling
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Abstract
The invention discloses a kind of Fast Collision Detection Algorithm of magnanimity underground utilities, it is related to subsurface three-dimensional spatial data handling field, comprises the following steps：Intake pipeline data, body Model is generated for pipeline data；The division of pipe space grid；Construct collision detection task groups；Perform collision detection task；Collision detection task groups are traveled through, the collision result of the pipeline in each collision detection task groups with identical ID is merged, obtains the collision detection result of all pipelines in gamut.The present invention superiority be：According to information such as pipeline calibers, the body Models such as cylinder, cuboid are created for pipeline, reduce the complexity and data volume for creating the threedimensional models such as triangle grid model, relative to the method based on analytic geometry, in the case where not reducing the collision detection degree of accuracy, the computation complexity of collision detection is reduced.A large amount of distant obvious pipeline collision detections that collision is not present are removed using the method for establishing spatial grid, improve detection efficiency.
Description
Technical field
The present invention relates to subsurface three-dimensional spatial data handling field, more particularly to one kind is according to information such as pipeline calibers
Pipeline creates the body Models such as cylinder, cuboid, on the one hand reduces the complexity for creating the threedimensional models such as triangle grid model
With data volume, on the other hand relative to the method based on analytic geometry, in the case where not reducing the collision detection degree of accuracy, reduce
The Fast Collision Detection Algorithms of the magnanimity underground utilities of the computation complexity of collision detection.
Background technology
City Buried Pipeline facility carries the vital task for maintaining city normal operation, but all kinds of underground utilities are buried
It is intricate, thus find out the important informations such as the position of all kinds of underground utilities, attribute just turn into be related in all kinds of pipe engineerings
One vital task.And when being pooled to per a kind of special pipelines on a drawing, just inevitably occur to synthesis
The inspection problem of pipeline clash logic.Intersection-type collision for finding to exist in design drawing different structure generation in advance etc. is asked
Topic, allows project planner's revisions on drawings before construction, with the progress for the engineering that avoids delay.With the high speed of economic society
Development, Urbanization in China development have been enter into rapid growth period, and urban pipe network management work also has made great progress, but
Due to history and the various reasons of reality, pressure management area still lags behind urban construction and development level, is objectively occurring so
Situation：
(1) the number increase of various pipe network equipments, species are various, crisscross, cause daily management mission increasingly complicated,
Many accident potential and operation risk are also increased simultaneously, the safe operation to pipe network brings stern challenge.
(2) as various data and the detection data of reconnoitring sharply increase, the management and maintenance to various pipeline data become
More
Come more complicated, but traditional pressure management area means have the problem of a lot, as Back ground Information is not complete, data preserve
Mode is backward, preserving precision, not high, data acquisition is low with renewal efficiency, information retrieval is inconvenient, day emergency episode is handled not in time
Deng bringing inconvenience to manager and designer.
(3) in pipe network system, underground utilities occupy greatly, and its disguised and buried depth sets the rule to whole system
Draw, design brings very big difficulty with management so that it is increasingly urgent to establish integrated pipe network information system.
The content of the invention
The embodiment of the present invention provides a kind of Fast Collision Detection Algorithm of magnanimity underground utilities, and the inventive method solves root
According to information such as pipeline calibers, the body Models such as cylinder, cuboid are created for pipeline, on the one hand reduce establishment triangle grid model
Deng the complexity and data volume of threedimensional model, on the other hand relative to the method based on analytic geometry, collision detection is not being reduced
In the case of the degree of accuracy, the computation complexity of collision detection is reduced.A large amount of distances are removed using the method for establishing spatial grid
The obvious pipeline collision detection that collision is not present farther out, improves detection efficiency.One kind has been used to be cooperateed with based on CPU with GPU
The method of calculating accelerates the pipeline collision detection task largely with identical operation process, so as to improve whole detection speed.
The embodiment of the present invention provides a kind of Fast Collision Detection Algorithm of magnanimity underground utilities, and wherein this method includes as follows
Step：
Intake pipeline data, body Model is generated for pipeline data：According to the pipeline data format of setting, the region model of setting
Enclose, pipeline information is obtained from pipeline data file；It is that pipeline generates corresponding body Model according to pipeline information, and is body Model
Calculate enclosure body；Count all pipeline enclosure body information；
The division of pipe space grid：Pipe space grid dimensional information is calculated, and utilizes pipeline body Model enclosure body letter
Breath fills pipeline into spatial grid；Obtain the pipeline grid set in the range of designated area；
Construct collision detection task groups：Each pipeline grid to formulate in regional extent builds collision detection task-set
Close, obtain all pending Detection task groups；
Perform collision detection task groups：Detect running environment and situation is supported to unified calculation equipment framework, if operation ring
Unified Device framework is supported in border, then performs collision detection task by the way of central processing unit, graphics processor collaboration processing；
If running environment is not supported to unifiedly calculate equipment framework, the parallel computation based on memory sharing is utilized in central processing unit
Mode accelerates to perform collision detection task；
Merge collision detection result：Collision detection task groups are traveled through, will there is identical ID in each collision detection task groups
The collision result of pipeline merge, obtain the collision detection result of all pipelines in gamut.
A kind of Fast Collision Detection Algorithm of magnanimity underground utilities, wherein the intake pipeline data, give birth to for pipeline data
Comprise the following steps into body Model：
Obtain pipeline information：According to the pipeline data format of setting, pipeline information is obtained from pipeline data file；
Generate pipeline body Model：It is that pipeline generates according to the pipeline starting point coordinate of acquisition, termination point coordinates, caliber information
Corresponding body Model：If caliber information is radius, cylinder body Model is generated for pipeline；If caliber information multiplies for the length of side
Product, then generate cuboid body Model for pipeline；
Generate pipeline enclosure body：It is that pipeline generates according to the pipeline starting point coordinate of acquisition, termination point coordinates, caliber information
Enclosure body；
Its calculation formula is：
Wherein：
X is pipeline coordinate X-axis component；Y is pipeline coordinate Y-axis component；Z is pipeline coordinate z-component；Subscript start generations
Table pipeline starting point coordinate；Subscript end represents pipeline and terminates point coordinates；MIN is acquisition smaller value method；MAX is larger to obtain
Value method；MAX { GJ } is to obtain the higher value in caliber, if caliber is radius, higher value is radius, if caliber is side
Long product, then higher value is the higher value in the length of side；
Pipeline body Model enclosure body is calculated by formula：
Wherein：Xmin is enclosure body in X-direction minimum value；Xmax is enclosure body in X-direction maximum；Ymin is bag
Containment body is in Y direction minimum value；Ymax is enclosure body in Y direction maximum；Zmin is enclosure body in Z-direction minimum value；
Zmax is enclosure body in Z-direction maximum；
Count pipeline information：Pipeline enclosure body information is counted, all pipelines is obtained and takes up space scope.
A kind of Fast Collision Detection Algorithm of magnanimity underground utilities, wherein the division of the pipe space grid is including as follows
Step：
Calculate spatial grid yardstick：Using pipeline information spatial grid yardstick is calculated according to formula；
Its formula is
Wherein：
Li is the i-th length of pipeline；GJi is the i-th pipeline pipe diameter size；N is pipeline number；
Calculated by formula：
Lx is spatial grid in X-direction scale size；Ly is spatial grid in Y direction scale size；Lz is space
Grid is in Z-direction size；
Calculate pipeline starting mesh index：Using pipeline enclosure body information calculate pipeline take up space grid starting index,
Its formula is：
Wherein：
Xmin is pipeline model minimum value in X-axis；Ymin is pipeline model minimum value in Y-axis；Zmin is pipeline mould
Type minimum value on Z axis；Xmax is pipeline model maximum in X-axis；Ymax is pipeline model maximum in Y-axis；Zmax
For pipeline model on Z axis maximum；Xo is pipeline grid starting point X-axis coordinate；Yo is pipeline grid starting point Y-axis coordinate；
Zo is pipeline grid starting point Z axis coordinate；Lx is that pipeline grid plays X-direction size；Ly is that pipeline grid Y direction is big
It is small；Lz is that pipeline grid plays Z-direction size；Calculated by formula：
Startx is that pipeline model bounding box occupies pipeline grid X-direction starting index；Endx surrounds for pipeline model
Box occupies pipeline grid X-direction and terminates index；Starty is that pipeline model bounding box occupies pipeline grid Y direction starting rope
Draw；Endy is that pipeline model bounding box occupies pipeline grid Y direction termination index；Startz is that pipeline model bounding box occupies
Pipeline grid Z-direction starting index；Endz is that pipeline model bounding box occupies pipeline grid Z-direction termination index；
Travel through starting mesh index：The spatial grid starting index calculated in traversal formula (3), according to Grid Index meter
Grid enclosure body is calculated, and collision detection is carried out with pipeline body Model：Judge that pipeline body Model is formed with grid enclosure body to intersect,
The spatial grid Grid Index is then calculated by formula, and pipeline is filled into the set with identical Grid Index；Judge
Pipeline body Model and grid enclosure body are non-intersect, then travel through spatial grid index；
Its formula is：
Grid=Gridz＜ ＜ 48+Gridy＜ ＜ 24+Gridx (4)
Wherein：
Gridz is Z-direction Grid Index；Gridy is Y direction Grid Index；Gridx is X-direction Grid Index；
Calculated by formula：Grid is the Grid Index of spatial grid；
Obtain pipeline grid set：All pipelines to be detected are handled successively, obtained in the range of designated area
Pipeline grid set.
A kind of Fast Collision Detection Algorithm of magnanimity underground utilities, wherein the construction collision detection task groups are including as follows
Step：
Create collision detection task groups：Single grid is obtained from the pipeline grid set in the range of designated area, is built
The detection collision task groups of the single grid；
Build collision detection task：Two pipelines being not communicated with are taken out from pipeline grid, build collision detection task pair
As, and task is added in task groups；
Obtain collision detection task groups set：Collision detection task groups are built to formulate all grid of regional extent, are obtained
Obtain all pending Detection task group set.
A kind of Fast Collision Detection Algorithm of magnanimity underground utilities, wherein the execution collision detection task includes following step
Suddenly：
Initialize running environment：Detect support of the graphics processor equipment to unified calculation equipment framework in running environment
Situation；Judge whether to support unified calculation equipment framework, judge to support then to start unified calculation equipment schema object；Judgement is not propped up
Hold, then host side accelerates to perform collision detection task groups using the parallel computation based on shared drive.
Transmit collision detection task groups set：The distributing equipment end video memory in graphics processor equipment, by task groups set
Transmit into the video memory of equipment end；
Equipment end performs collision detection task：Start kernel objects, performing collision detection in graphics processor equipment end appoints
Business；
Obtain collision detection result：Distribute main frame end memory, and the collision detection that will be performed in graphics processor equipment end
As a result transmit into main frame end memory；
Empty data：Empty the video memory distributed in graphics processor equipment end；
Host side performs collision detection task：Judge performing environment, be determined as that performing environment is not supported to unifiedly calculate equipment
Framework, then accelerate execution collision detection task groups using the parallel computation based on shared drive in host side.
A kind of Fast Collision Detection Algorithm of magnanimity underground utilities, include wherein the equipment end performs collision detection task
Following steps：
Thread block obtains task group objects：The each thread block of image processor equipment end is according to thread block call number from task
The collision detection task groups of manipulative indexing number are obtained in group set；
No. 0 thread calculates iterations：No. 0 index thread, is counted according to formula (5) in image processor equipment end thread block
The iterations of each thread execution task is calculated,
Wherein calculation formula is：
Num=(taskSize+blockDim.x-1)/blockDim.x (5)
Wherein：
TaskSize is the number of tasks in each task block；BlockDim.x is the Thread Count possessed in each thread block；
Calculated and obtained by formula：
Num is the number of tasks that each thread need to calculate；
All thread synchronizations in thread block：All threads in image processor equipment end thread block are synchronized into processing,
Each thread is set to obtain correct iterations；
Thread block thread calculating task indexes：Each thread is according to formula (6) in image processor equipment end thread block
Calculate processing task index；
Its formula is：
TaskIdx=blockDim.x × proIdx+threadIdx.x (6)
Wherein：
BlockDim.x is the Thread Count possessed in thread block；ProIdx is the number of tasks that current thread has been handled；
ThreadIdx.x indexes for current thread；
Calculated and obtained by formula：
TaskIdx is the task index of current thread processing；
Thread block thread performs collision detection：Each thread in image processor equipment end thread block is to Detection task
In two pipelines carry out collision detection.
A kind of Fast Collision Detection Algorithm of magnanimity underground utilities, wherein the thread block thread performs collision detection bag
Include following steps：
Bounding Box body filters：Judge whether the enclosure body of two pipelines intersects；If it is determined that enclosure body is non-intersect, then
Judge that collision is not present in two pipelines；If Bounding Box body phase is handed over, collision detection is carried out according to pipeline body Model；
Cylinder body Model and cylinder body Model collision detection：Calculate the most short distance between two its center axis
From, and judge whether beeline is more than two cylinder body Model radius sums；If beeline is more than radius sum,
Judge that collision is not present in two cylinder body Models；If beeline is less than radius sum, two cylinder body moulds are judged
Collision be present in type；
Cuboid body Model detects with cuboid model collision：Judge successively two cuboid body Models each face whether
In the presence of collision；If collision is not present between rectangular dignity, judge that collision is not present in two cuboid body Models；It is if rectangular
Collision between dignity be present, then judge that two cuboid body Models have collision；
Cuboid body Model and cylinder body Model collision detection：Calculate successively between each face of cuboid and cylinder
Beeline, if beeline is more than cylinder radius, judge not deposit between cuboid body Model and cylinder body Model
Colliding；If beeline is less than cylinder radius, judges to exist between cuboid body Model and cylinder body Model and touch
Hit；
Write collision detection result：According to the collision detection result of pipeline body Model, pipeline collision detection result is write and touched
Hit in Detection task.
A kind of Fast Collision Detection Algorithm of magnanimity underground utilities, wherein：The pipeline information includes：Pipeline is numbered, pipe
Footpath, pipeline starting point coordinate, pipeline terminate point coordinates；The collision task groups include：Task group index, grid block index, appoints
Business set.
As can be seen here：
The Fast Collision Detection Algorithm of magnanimity underground utilities in the embodiment of the present invention：Solve and believed according to pipeline caliber etc.
Breath, the body Models such as cylinder, cuboid are created for pipeline, on the one hand reduces and creates answering for the threedimensional models such as triangle grid model
Miscellaneous degree and data volume, on the other hand relative to the method based on analytic geometry, in the case where not reducing the collision detection degree of accuracy,
Reduce the computation complexity of collision detection.Substantially it is not present using the method removal for establishing spatial grid is a large amount of distant
The pipeline collision detection of collision, improves detection efficiency.A kind of method based on CPU and GPU cooperated computings has been used to accelerate big
Measurer has the pipeline collision detection task of identical operation process, so as to improve whole detection speed.
Brief description of the drawings
Fig. 1 is the overall flow signal of the Fast Collision Detection Algorithm for the magnanimity underground utilities that embodiments of the invention provide
Figure；
Input pipe line number in the Fast Collision Detection Algorithm for the magnanimity underground utilities that Fig. 2 provides for embodiments of the invention
According to for the schematic flow sheet of pipeline data generation body Model step；
Pipe space grid in the Fast Collision Detection Algorithm for the magnanimity underground utilities that Fig. 3 provides for embodiments of the invention
Partiting step schematic flow sheet；
Fig. 4 is to construct collision detection in the Fast Collision Detection Algorithm for the magnanimity underground utilities that embodiments of the invention provide
The schematic flow sheet of task groups step；
Fig. 5 is to perform collision detection in the Fast Collision Detection Algorithm for the magnanimity underground utilities that embodiments of the invention provide
The schematic flow sheet of task groups step；
Equipment end is performed and touched in the Fast Collision Detection Algorithm for the magnanimity underground utilities that Fig. 6 provides for embodiments of the invention
Hit the schematic flow sheet of Detection task step；
Fig. 7 is the Fast Collision Detection Algorithm thread block thread for the magnanimity underground utilities that embodiments of the invention provide
Perform the schematic flow sheet of collision detection step.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with accompanying drawing and specific implementation
Example describes the present invention in detail, and illustrative examples of the invention and explanation are used for explaining the present invention herein, but are not intended as
Limitation of the invention.
Embodiment 1：Fig. 1 is the flow signal of the Fast Collision Detection Algorithm for the magnanimity underground utilities that the present embodiment provides
Figure, as shown in figure 1, a kind of Fast Collision Detection Algorithm of magnanimity underground utilities, this method comprise the following steps：
Intake pipeline data, body Model is generated for pipeline data：According to the pipeline data format of setting, the region model of setting
Enclose, pipeline information is obtained from pipeline data file；It is that pipeline generates corresponding body Model according to pipeline information, and is body Model
Calculate enclosure body；Count all pipeline enclosure body information；
The division of pipe space grid：Pipe space grid dimensional information is calculated, and utilizes pipeline body Model enclosure body letter
Breath fills pipeline into spatial grid；Obtain the pipeline grid set in the range of designated area；
Construct collision detection task groups：Each pipeline grid to formulate in regional extent builds collision detection task-set
Close, obtain all pending Detection task groups；
Perform collision detection task groups：Detect running environment and situation is supported to unified calculation equipment framework, if operation ring
Unified Device framework is supported in border, then performs collision detection task by the way of central processing unit, graphics processor collaboration processing；
If running environment is not supported to unifiedly calculate equipment framework, the parallel computation based on shared drive is utilized in central processing unit
Mode accelerates to perform collision detection task；
Merge collision detection result：Collision detection task groups are traveled through, will there is identical ID in each collision detection task groups
The collision result of pipeline merge, obtain the collision detection result of all pipelines in gamut.
As shown in Fig. 2 a kind of Fast Collision Detection Algorithm of magnanimity underground utilities, the intake pipeline data, are pipeline
Data generation body Model comprises the following steps：
Obtain pipeline information：According to the pipeline data format of setting, pipeline information is obtained from pipeline data file；
Generate pipeline body Model：It is that pipeline generates according to the pipeline starting point coordinate of acquisition, termination point coordinates, caliber information
Corresponding body Model：If caliber information is radius, cylinder body Model is generated for pipeline；If caliber information multiplies for the length of side
Product, then generate cuboid body Model for pipeline；
Generate pipeline enclosure body：It is that pipeline generates according to the pipeline starting point coordinate of acquisition, termination point coordinates, caliber information
Enclosure body；
Its calculation formula is：
Wherein：
X is pipeline coordinate X-axis component；Y is pipeline coordinate Y-axis component；Z is pipeline coordinate z-component；Subscript start generations
Table pipeline starting point coordinate；Subscript end represents pipeline and terminates point coordinates；MIN is acquisition smaller value method；MAX is larger to obtain
Value method；MAX { GJ } is to obtain the higher value in caliber, if caliber is radius, higher value is radius, if caliber is side
Long product, then higher value is the higher value in the length of side；
Pipeline body Model enclosure body is calculated by formula：
Wherein：Xmin is enclosure body in X-direction minimum value；Xmax is enclosure body in X-direction maximum；Ymin is bag
Containment body is in Y direction minimum value；Ymax is enclosure body in Y direction maximum；Zmin is enclosure body in Z-direction minimum value；
Zmax is enclosure body in Z-direction maximum；
Count pipeline information：Pipeline enclosure body information is counted, all pipelines is obtained and takes up space scope.
As shown in figure 3, a kind of Fast Collision Detection Algorithm of magnanimity underground utilities, the division bag of the pipe space grid
Include following steps：
Calculate spatial grid yardstick：Using pipeline information spatial grid yardstick is calculated according to formula；
Its formula is
Wherein：
Li is the i-th length of pipeline；GJi is the i-th pipeline pipe diameter size；N is pipeline number；
Calculated by formula：
Lx is spatial grid in X-direction scale size；Ly is spatial grid in Y direction scale size；Lz is space
Grid is in Z-direction size；
Calculate pipeline starting mesh index：Using pipeline enclosure body information calculate pipeline take up space grid starting index,
Its formula is：
Wherein：
Xmin is pipeline model minimum value in X-axis；Ymin is pipeline model minimum value in Y-axis；Zmin is pipeline mould
Type minimum value on Z axis；Xmax is pipeline model maximum in X-axis；Ymax is pipeline model maximum in Y-axis；Zmax
For pipeline model on Z axis maximum；Xo is pipeline grid starting point X-axis coordinate；Yo is pipeline grid starting point Y-axis coordinate；
Zo is pipeline grid starting point Z axis coordinate；Lx is that pipeline grid plays X-direction size；Ly is that pipeline grid Y direction is big
It is small；Lz is that pipeline grid plays Z-direction size；Calculated by formula：
Startx is that pipeline model bounding box occupies pipeline grid X-direction starting index；Endx surrounds for pipeline model
Box occupies pipeline grid X-direction and terminates index；Starty is that pipeline model bounding box occupies pipeline grid Y direction starting rope
Draw；Endy is that pipeline model bounding box occupies pipeline grid Y direction termination index；Startz is that pipeline model bounding box occupies
Pipeline grid Z-direction starting index；Endz is that pipeline model bounding box occupies pipeline grid Z-direction termination index；
Travel through starting mesh index：The spatial grid starting index calculated in traversal formula (3), according to Grid Index meter
Grid enclosure body is calculated, and collision detection is carried out with pipeline body Model：Judge that pipeline body Model is formed with grid enclosure body to intersect,
The spatial grid Grid Index is then calculated by formula, and pipeline is filled into the set with identical Grid Index；Judge
Pipeline body Model and grid enclosure body are non-intersect, then travel through spatial grid index；
Its formula is：
Grid=Gridz＜ ＜ 48+Gridy＜ ＜ 24+Gridx (4)
Wherein：
Gridz is Z-direction Grid Index；Gridy is Y direction Grid Index；Gridx is X-direction Grid Index；
Calculated by formula：Grid is the Grid Index of spatial grid；
Obtain pipeline grid set：All pipelines to be detected are handled successively, obtained in the range of designated area
Pipeline grid set.
As shown in figure 4, a kind of Fast Collision Detection Algorithm of magnanimity underground utilities, the construction collision detection task groups bag
Include following steps：
Create collision detection task groups：Single grid is obtained from the pipeline grid set in the range of designated area, is built
The detection collision task groups of the single grid；
Build collision detection task：Two pipelines being not communicated with are taken out from pipeline grid, build collision detection task pair
As, and task is added in task groups；
Obtain collision detection task groups set：Collision detection task groups are built to formulate all grid of regional extent, are obtained
Obtain all pending Detection task group set.
As shown in figure 5, a kind of Fast Collision Detection Algorithm of magnanimity underground utilities, the execution collision detection task groups bag
Include following steps：
Initialize running environment：Detect support of the graphics processor equipment to unified calculation equipment framework in running environment
Situation；Judge whether to support unified calculation equipment framework, judge to support then to start unified calculation equipment schema object；Judgement is not propped up
Hold, then accelerate to perform collision detection task using the parallel computation mode based on memory sharing in central processing unit；
Transmit collision detection task groups set：The distributing equipment end video memory in graphics processor equipment, by task groups set
Transmit into the video memory of equipment end；
Equipment end performs collision detection task：Start kernel objects, performing collision detection in graphics processor equipment end appoints
Business；
Obtain collision detection result：Distribute main frame end memory, and the collision detection that will be performed in graphics processor equipment end
As a result transmit into main frame end memory；
Empty data：Empty the video memory distributed in graphics processor equipment end；
Host side performs collision detection task：Judge performing environment, be determined as that performing environment is not supported to unifiedly calculate equipment
Framework, then accelerate execution collision detection task groups using the parallel calculating method based on shared drive in host side.
As shown in fig. 6, a kind of Fast Collision Detection Algorithm of magnanimity underground utilities, the equipment end performs collision detection and appointed
Business comprises the following steps：
Thread block obtains task group objects：The each thread block of image processor equipment end is according to thread block call number from task
The collision detection task groups of manipulative indexing number are obtained in group set；
No. 0 thread calculates iterations：No. 0 index thread, is counted according to formula (5) in image processor equipment end thread block
The iterations of each thread execution task is calculated,
Wherein calculation formula is：
Num=(taskSize+blockDim.x-1)/blockDim.x (5)
Wherein：
TaskSize is the number of tasks in each task block；BlockDim.x is the Thread Count possessed in each thread block；
Calculated and obtained by formula：
Num is the number of tasks that each thread need to calculate；
All thread synchronizations in thread block：All threads in image processor equipment end thread block are synchronized into processing,
Each thread is set to obtain correct iterations；
Thread block thread calculating task indexes：Each thread is according to formula (6) in image processor equipment end thread block
Calculate processing task index；
Its formula is：
TaskIdx=blockDim.x × proIdx+threadIdx.x (6)
Wherein：
BlockDim.x is the Thread Count possessed in thread block；ProIdx is the number of tasks that current thread has been handled；
ThreadIdx.x indexes for current thread；
Calculated and obtained by formula：
TaskIdx is the task index of current thread processing；
Thread block thread performs collision detection：Each thread in image processor equipment end thread block is to Detection task
In two pipelines carry out collision detection.
As shown in fig. 7, a kind of Fast Collision Detection Algorithm of magnanimity underground utilities, the thread block thread perform collision
Detection comprises the following steps：
Bounding Box body filters：Judge whether the enclosure body of two pipelines intersects；If it is determined that enclosure body is non-intersect, then
Judge that collision is not present in two pipelines；If Bounding Box body phase is handed over, collision detection is carried out according to pipeline body Model；
Cylinder body Model and cylinder body Model collision detection：Calculate the most short distance between two its center axis
From, and judge whether beeline is more than two cylinder body Model radius sums；If beeline is more than radius sum,
Judge that collision is not present in two cylinder body Models；If beeline is less than radius sum, two cylinder body moulds are judged
Collision be present in type；
Cuboid body Model detects with cuboid model collision：Judge successively two cuboid body Models each face whether
In the presence of collision；If collision is not present between rectangular dignity, judge that collision is not present in two cuboid body Models；It is if rectangular
Collision between dignity be present, then judge that two cuboid body Models have collision；
Cuboid body Model and cylinder body Model collision detection：Calculate successively between each face of cuboid and cylinder
Beeline, if beeline is more than cylinder radius, judge not deposit between cuboid body Model and cylinder body Model
Colliding；If beeline is less than cylinder radius, judges to exist between cuboid body Model and cylinder body Model and touch
Hit；
Write collision detection result：According to the collision detection result of pipeline body Model, pipeline collision detection result is write and touched
Hit in Detection task.
It is embodied in case, the pipeline information includes：Pipeline is numbered, caliber, pipeline starting point coordinate, and pipeline terminates
Point coordinates；The collision task groups include：Task group index, grid block index, set of tasks.
It is described below with a concrete case：
Magnanimity Underground Pipeline Data is carried out quickly using this method to elaborate with a specific implementation case below
Collision detection.Magnanimity communication pipe line number evidence, power pipeline data, water-supply line data, flowing line can be realized using method
The Fast Collision Detection of the pipeline data such as data, burning line data, heating pipeline data, industrial pipeline data.
Obtain the underground communication pipeline data in somewhere, power pipeline data, water-supply line data, flowing line data,
The pipeline data such as burning line data, heating pipeline data, industrial pipeline data；According to the pipeline data format of setting, from pipe
Pipeline information is obtained in line data file, wherein pipeline information includes：Pipeline numbering, caliber, pipeline starting point coordinate, pipeline are whole
Stop coordinate；The body Model according to corresponding to the pipeline starting point coordinate of acquisition, termination point coordinates, caliber information are pipeline generation：
If caliber information is radius, cylinder body Model is generated for pipeline, if caliber information is length of side product, is given birth to for pipeline
Into cuboid body Model；It is that pipeline generates enclosure body according to the pipeline starting point coordinate of acquisition, termination point coordinates, caliber information,
And count all pipeline enclosure body information.
All pipeline enclosure body information obtained according to statistics, spatial grid dimensional information is calculated, obtain pipe space lattice
Net is in X-axis, Y-axis, the scale size of Z-direction；Utilize pipeline enclosure body and pipeline grid dimensional information, starting point coordinate meter
Calculate pipeline crossover line grid start-stop call number；Traversal pipeline crosses over Grid Index, utilizes Grid Index and grid yardstick, starting
Point coordinates obtains grid enclosure body, and carries out collision detection with pipeline body Model：If pipeline body Model and grid enclosure body phase
Hand over, then the spatial grid index is calculated by formula, and pipeline is filled into the set with identical Grid Index；If pipe
Wire body model is not desired to hand over grid enclosure body, then travels through spatial grid index；Said process is repeated, until by all pipelines
Added in the grid of manipulative indexing, obtain carry out spatial grid division pipeline dataset close, so as to remove it is distant,
The obvious situation that collision is not present, so as to improve detection efficiency.
From the grid set of division grid, single Grid square is obtained, and collision detection task groups are created for the grid
Object；Then different ID two pipeline data are obtained from the grid set, are two pipeline data creations, one collision inspection
Task object is surveyed, and is added in the collision detection task group objects of the grid；Said process is repeated, until being all grid
Set creates collision detection task group objects, so as to obtain all pending collision detection task groups object sets.
Because the set of tasks in pending collision detection task groups object set and collision detection task groups has
Same or similar operational process, therefore can be by improving the efficiency of collision detection parallel.Due to the spy of graphics processor
Different framework, it provides new solution for many original insoluble problems, this method employ graphics processor with
The method of central processing unit collaboration processing, collision detection efficiency is improved using the computation capability of graphics processor.Sentence first
Determine support situation of the graphics processor to unified calculation equipment framework：If graphics processor supports unified calculation equipment framework,
The mode of CPU, GPU collaboration processing is taken to accelerate collision detection process；If graphics processor is not supported to unifiedly calculate equipment framework,
Collision detection process is then accelerated using the parallel calculating method based on shared drive at CPU ends.
During processing collision detection is cooperateed with based on CPU, GPU, central processing unit end initializes unified calculation first
Equipment framework kernel objects；Then video memory object, and the collision detection task groups pair that will be got are distributed in graphics processor
As set is transmitted into video memory；Finally start kernel objects, specific collision detection task is performed at graphics processor end；Treat institute
After the completion of having collision detection tasks carrying, central processing unit obtains collision detection task testing result from graphics processor, and
The collision result of pipeline with identical ID is merged, so as to obtain the collision situation of all pipelines.In graphics processor
When end performs specific collision detection task, each thread block obtains the collision with identical ID from video memory by self ID and examined
Survey task group objects；Then No. 0 thread is pressed according to task number in thread block number of threads and collision detection task group objects
The pending Detection task number of each thread is calculated according to formula；Thread in thread block is synchronized, so as to each line
Journey obtains the task number that oneself should be performed, then obtained according to the Thread Id of itself from task group objects corresponding to collide inspection
Survey task simultaneously performs, and writes back testing result after the completion of execution.
During collision detection is handled based on the parallel calculating method of central processing unit shared drive, obtaining first can
The number of threads used, and calculate the task groups object number that each thread should perform；Then corresponding to each thread performs
Collision detection task, and testing result is write back.
Finally, will be fetched by the collision detection result accelerated parallel, and by the collision result of the pipeline with identical ID
Merge, so as to obtain the correct collision detection result of all pipelines.
As can be seen here：The Fast Collision Detection Algorithm of magnanimity underground utilities in the embodiment of the present invention：Solve according to pipe
The information such as spool footpath, the body Models such as cylinder, cuboid are created for pipeline, on the one hand reduces and creates triangle grid model etc. three
The complexity and data volume of dimension module, on the other hand relative to the method based on analytic geometry, not reducing, collision detection is accurate
In the case of degree, the computation complexity of collision detection is reduced.Removed using the method for establishing spatial grid a large amount of distant
The obvious pipeline collision detection that collision is not present, improve detection efficiency.One kind has been used based on CPU and GPU cooperated computings
Method accelerate largely have identical operation process pipeline collision detection tasks, so as to improve whole detection speed.
Although depicting the embodiment of the present invention by embodiment, it will be appreciated by the skilled addressee that the present invention has many
Deformation and change are without departing from spirit of the invention, it is desirable to which appended claim includes these deformations and changed without departing from originally
The spirit of invention.
Claims (8)
1. a kind of Fast Collision Detection Algorithm of magnanimity underground utilities, it is characterised in that this method comprises the following steps：
Intake pipeline data, body Model is generated for pipeline data：According to the pipeline data format of setting, setting regional extent,
Pipeline information is obtained from pipeline data file；It is that pipeline generates corresponding body Model according to pipeline information, and is body Model meter
Calculate enclosure body；Count all pipeline enclosure body information；
The division of pipe space grid：Pipe space grid dimensional information is calculated, and will using pipeline body Model enclosure body information
Pipeline is filled into spatial grid；Obtain the pipeline grid set in the range of designated area；
Construct collision detection task groups：Each pipeline grid to formulate in regional extent builds collision detection set of tasks, obtains
Obtain all pending Detection task groups；
Perform collision detection task：Detect running environment and situation is supported to unified calculation equipment framework, when running environment is supported to unite
One equipment framework, collision detection task is performed by the way of central processing unit, graphics processor collaboration processing；Work as running environment
Do not support to unifiedly calculate equipment framework, accelerate to perform using the parallel computation based on shared drive in central processing unit and collide inspection
Survey task；
Merge collision detection result：Collision detection task groups are traveled through, will there is identical ID pipe in each collision detection task groups
The collision result of line merges, and obtains the collision detection result of all pipelines in gamut.
2. the Fast Collision Detection Algorithm of a kind of magnanimity underground utilities according to claim 1, it is characterised in that described defeated
Enter pipeline data, generating body Model for pipeline data comprises the following steps：
Obtain pipeline information：According to the pipeline data format of setting, pipeline information is obtained from pipeline data file；
Generate pipeline body Model：It is that pipeline generation is corresponding according to the pipeline starting point coordinate of acquisition, termination point coordinates, caliber information
Body Model, judge caliber information be radius, then be pipeline generation cylinder body Model；Judge that caliber information is length of side product,
Then cuboid body Model is generated for pipeline；
Generate pipeline enclosure body：It is that pipeline generation is surrounded according to the pipeline starting point coordinate of acquisition, termination point coordinates, caliber information
Body；
Its calculation formula is：
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Wherein：
X is pipeline coordinate X-axis component；Y is pipeline coordinate Y-axis component；Z is pipeline coordinate z-component；Subscript start represents pipe
Line starting point coordinate；Subscript end represents pipeline and terminates point coordinates；MIN is acquisition smaller value method；MAX is acquisition higher value side
Method；MAX { GJ } is to obtain the higher value in caliber, if caliber is radius, higher value is radius, if caliber multiplies for the length of side
Product, then higher value is the higher value in the length of side；
Pipeline body Model enclosure body is calculated by formula：
Wherein：Xmin is enclosure body in X-direction minimum value；Xmax is enclosure body in X-direction maximum；Ymin is enclosure body
In Y direction minimum value；Ymax is enclosure body in Y direction maximum；Zmin is enclosure body in Z-direction minimum value；Zmax
It is enclosure body in Z-direction maximum；
Count pipeline information：Pipeline enclosure body information is counted, all pipelines is obtained and takes up space scope.
A kind of 3. Fast Collision Detection Algorithm of magnanimity underground utilities according to claim 1, it is characterised in that the pipe
The division of space of lines grid comprises the following steps：
Calculate spatial grid yardstick：Using pipeline information spatial grid yardstick is calculated according to formula；
Its formula is
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Wherein：
Li is the i-th length of pipeline；GJi is the i-th pipeline pipe diameter size；N is pipeline number；
Calculated by formula：
Lx is spatial grid in X-direction scale size；Ly is spatial grid in Y direction scale size；Lz is spatial grid
In Z-direction size；
Calculate pipeline starting mesh index：Pipeline is calculated using pipeline enclosure body information to take up space grid starting index, it is public
Formula is：
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Wherein：
Xmin is pipeline model minimum value in X-axis；Ymin is pipeline model minimum value in Y-axis；Zmin is pipeline model in Z
Minimum value on axle；Xmax is pipeline model maximum in X-axis；Ymax is pipeline model maximum in Y-axis；Zmax is pipeline
Model maximum on Z axis；Xo is pipeline grid starting point X-axis coordinate；Yo is pipeline grid starting point Y-axis coordinate；Zo is pipe
Line grid starting point Z axis coordinate；Lx is that pipeline grid plays X-direction size；Ly is that pipeline grid plays Y direction size；Lz is
Pipeline grid plays Z-direction size；Calculated by formula：
Startx is that pipeline model bounding box occupies pipeline grid X-direction starting index；Endx is that pipeline model bounding box accounts for
Terminate and index according to pipeline grid X-direction；Starty is that pipeline model bounding box occupies pipeline grid Y direction starting index；
Endy is that pipeline model bounding box occupies pipeline grid Y direction termination index；Startz is that pipeline model bounding box occupies pipe
Line grid Z-direction starting index；Endz is that pipeline model bounding box occupies pipeline grid Z-direction termination index；
Travel through starting mesh index：The spatial grid starting index calculated in traversal formula (3), is calculated according to Grid Index
Grid enclosure body, and carry out collision detection with pipeline body Model：Judge that pipeline body Model is formed with grid enclosure body to intersect, then lead to
Cross formula and calculate the spatial grid Grid Index, and pipeline is filled into the set with identical Grid Index；Judge pipeline
Body Model and grid enclosure body are non-intersect, then travel through spatial grid index；
Its formula is：
Grid=Gridz＜ ＜ 48+Gridy＜ ＜ 24+Gridx (4)
Wherein：
Gridz is Z-direction Grid Index；Gridy is Y direction Grid Index；Gridx is X-direction Grid Index；
Calculated by formula：Grid is the Grid Index of spatial grid；
Obtain pipeline grid set：All pipelines to be detected are handled successively, obtain the pipeline in the range of designated area
Grid set.
A kind of 4. Fast Collision Detection Algorithm of magnanimity underground utilities according to claim 1,3, it is characterised in that：It is described
Construction collision detection task groups comprise the following steps：
Create collision detection task groups：Single grid is obtained from the pipeline grid set in the range of designated area, builds the list
The detection collision task groups of one grid；
Build collision detection task：Two pipelines being not communicated with are taken out from pipeline grid, build collision detection task object, and
Task is added in task groups；
Obtain collision detection task groups set：Collision detection task groups are built to formulate all grid of regional extent, obtain institute
There is pending Detection task group set.
A kind of 5. Fast Collision Detection Algorithm of magnanimity underground utilities according to claim 1, it is characterised in that：It is described to hold
Row collision detection appoints group to include following steps：
Initialize running environment：Detect support feelings of the graphics processor equipment in running environment to unified calculation equipment framework
Condition；Judge whether to support unified calculation equipment framework, judge to support then to start unified calculation equipment schema object；Judgement is not propped up
Hold, then accelerate execution collision detection task groups using the parallel computation based on shared drive in host side；
Transmit collision detection task groups set：The distributing equipment end video memory in graphics processor equipment, task groups set is transmitted
Into the video memory of equipment end；
Equipment end performs collision detection task：Start kernel objects, collision detection task is performed in graphics processor equipment end；
Obtain collision detection result：Distribute main frame end memory, and the collision detection result that will be performed in graphics processor equipment end
Transmit into main frame end memory；
Empty data：Empty the video memory distributed in graphics processor equipment end；
Host side performs collision detection task：Judge performing environment, be determined as that performing environment is not supported to unifiedly calculate equipment framework,
Then accelerate execution collision detection task groups using the parallel computation based on shared drive in host side.
A kind of 6. Fast Collision Detection Algorithm of magnanimity underground utilities according to claim 1,5, it is characterised in that：It is described
Equipment end performs collision detection task and comprised the following steps：
Thread block obtains task group objects：The each thread block of image processor equipment end is according to thread block call number from task groups collection
The collision detection task groups of manipulative indexing number are obtained in conjunction；
No. 0 thread calculates iterations：No. 0 index thread, is calculated according to formula (5) in image processor equipment end thread block
The iterations of each thread execution task,
Wherein calculation formula is：
Num=(taskSize+blockDim.x-1)/blockDim.x (5)
Wherein：
TaskSize is the task number in each task groups；BlockDim.x is the number of threads possessed in each thread block；
Calculated and obtained by formula：
Num is the task number that each thread need to calculate；
All thread synchronizations in thread block：All threads in image processor equipment end thread block are synchronized into processing, made every
Individual thread obtains correct iterations；
Thread block thread calculating task indexes：Each thread calculates according to formula (6) in image processor equipment end thread block
Go out processing task index；
Its formula is：
TaskIdx=blockDim.x × proIdx+threadIdx.x (6)
Wherein：
BlockDim.x is the Thread Count possessed in thread block；ProIdx is the number of tasks that current thread has been handled；
ThreadIdx.x indexes for current thread；
Calculated and obtained by formula：
TaskIdx is the task index of current thread processing；
Thread block thread performs collision detection：Each thread in image processor equipment end thread block is in Detection task
Two pipelines carry out collision detection.
A kind of 7. Fast Collision Detection Algorithm of magnanimity underground utilities according to claim 1,5,6, it is characterised in that：Institute
Thread block thread execution collision detection is stated to comprise the following steps：
Bounding Box body filters：Judge whether the enclosure body of two pipelines intersects；Judge that enclosure body is non-intersect, then judge two
Collision is not present in pipeline；Judge that Bounding Box body phase is handed over, then collision detection is carried out according to pipeline body Model；
Cylinder body Model and cylinder body Model collision detection：The beeline between two its center axis is calculated,
And judge whether beeline is more than two cylinder body Model radius sums；Judge that beeline is more than radius sum, judge
Collision is not present in two cylinder body Models；Judge that beeline is less than radius sum, then judge that two cylinder body Models are deposited
Colliding；
Cuboid body Model detects with cuboid model collision：Judge that each face of two cuboid body Models whether there is successively
Collision；To collision is not present between rectangular dignity, judge that collision is not present in two cuboid body Models；To being deposited between rectangular dignity
Colliding, judging that two cuboid body Models have collision；
Cuboid body Model and cylinder body Model collision detection：The most short distance between each face of cuboid and cylinder is calculated successively
From beeline is more than cylinder radius, judges collision is not present between cuboid body Model and cylinder body Model；Most short distance
From less than cylinder radius, judge collision between cuboid body Model and cylinder body Model be present；
Write collision detection result：According to the collision detection result of pipeline body Model, pipeline collision detection result is write into collision inspection
In survey task.
A kind of 8. Fast Collision Detection Algorithm of magnanimity underground utilities according to claim 1-7, it is characterised in that：Institute
Stating pipeline information includes：Pipeline is numbered, caliber, pipeline starting point coordinate, and pipeline terminates point coordinates；The collision task groups bag
Include：Task group index, grid block index, set of tasks.
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| CN117332481A (en) * | 2023-10-09 | 2024-01-02 | 浙江挚典科技有限公司 | Object characterization method and system for collision detection |
| CN117332481B (en) * | 2023-10-09 | 2024-06-28 | 浙江挚典科技有限公司 | Object characterization method and system for collision detection |
| CN117910072A (en) * | 2023-12-30 | 2024-04-19 | 江苏大塔科技有限公司 | Cesium-based pipe rack pipeline collision analysis method |
| CN117910072B (en) * | 2023-12-30 | 2024-06-25 | 江苏大塔科技有限公司 | Cesium-based pipe rack pipeline collision analysis method |
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