CN108052703A - Fast Collision Detection Algorithm based on hybrid hierarchy bounding box - Google Patents
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Abstract
The invention discloses the collision checking method based on bounding volume hierarchy (BVH) in a kind of virtual environment, suitable for Virtual assemble and three-dimensional earth's surface modeling field.Including：(1) AABB OBB hybrid hierarchy bounding volumetrees are built；(2) test for intersection is carried out to the bounding box in the node in different levels bounding volumetree；(3) whether the triangle detected in different levels bounding volumetree leaf node intersects.The present invention surrounds the characteristic of internal layer OBB using outer layer AABB, intersects in outer layer AABB, the test for intersection between the OBB of internal layer need to only detect specific 5 separation shafts, can greatly reduce the time of bounding box test for intersection.Finally in the element figure test for intersection stage of method, the median calculated using test for intersection between OBB replaces the coordinate value of triangle, eliminates the efficiency that the step for triangular coordinate in different models converts also improves collision detection.
Description
First, technical field
The present invention relates to a kind of method of the Fast Collision Detection based on hybrid hierarchy bounding box, applied to Virtual assemble and
Three-dimensional earth's surface models field.
2nd, background technology
One of the core technology of collision detection as Computer Simulation field is to ensure virtual scene feeling of immersion, interactivity
And the indispensable part of imagination.Whether its main function is penetrated between the object detected in virtual scene
Phenomenon is so as to avoiding damage to the scene sense of reality.For the Collision Detection of various fields, scholars propose many kinds of differences
The collision checking method of type, wherein the collision checking method based on bounding volume hierarchy (BVH) is always the hot spot studied, it is wide at present
It is general to be applied in all kinds of fields.The entire collision detection process of this kind of method is divided into rough collision detection (bounding box test for intersection)
With two stages of collision detection of high precision (triangle test for intersection).Its core concept is to surround complexity with common geometric figure
Model exclude most of disjoint object so as to reduce the test for intersection of element figure pair, common bounding box is broadly divided into
Several classes such as axial bounding box (AABB), oriented bounding box (OBB), discrete direction bounding box (K-Dop).AABB is built and test
It is relatively simple, but compactness is poor；And OBB then builds and tests complexity, compactness is preferable.According to the characteristics of these bounding boxs, one
A little scholars propose the collision checking method based on Hybrid bounding box, but the phase in above most of method between different bounding volumes
Test is handed over to be independent from each other, be not in contact between test and is not improved is between accurate detection-phase intermediate cam shape intersecting
Test, improved efficiency are not obvious.Problems of the prior art are how under conditions of crash tests precision is not reduced
Promote the efficiency of crash tests.
3rd, the content of the invention
【Goal of the invention】
Existing based on bounding volume hierarchy (BVH) collision detection algorithm efficiency deficiency in order to make up, the present invention provides one kind to be based on
The Fast Collision Detection Algorithm of hybrid hierarchy bounding box.Each node of the middle-level bounding volumetree of method uses double-deck bounding box,
Outer layer use the simple AABB of characteristic, to quickly exclude spacing distance it is larger when situation, when the AABB of outer layer cannot exclude
Shi Ze is detected using the OBB of internal layer.In the rough collision detection stage, the present invention will be between the test between AABB and OBB
Test link together, 5 separation shafts need to be only detected for the test for intersection between internal layer OBB, simplify the phase between OBB
Hand over test；In the element figure test for intersection stage, the characteristics of surrounding triangle using OBB, counted using test for intersection between OBB
The median of calculation replaces the coordinate value of triangle, eliminates the step for triangular coordinate in different models converts and also improves
The efficiency of entire method.
【Technical solution】
For achieving the above object, technical solution used in the present invention is as follows：
The first step, structure hybrid hierarchy bounding volumetree (BVH)：Top-down method is used to be each in virtual environment
Model construction bounding volume hierarchy (BVH) tree, the structure of tree are binary tree, the AABB information comprising outer layer in each node of tree, internal layer
OBB information and comprising triangle coordinate information, the computation sequence of bounding box is calculates AABB after first calculating OBB.
Second step, the test for intersection between bounding box：To being carried out between the encirclement in the node of different levels bounding volumetree
Test for intersection, first in root node outer layer AABB carry out test for intersection, if being separated between AABB, direct judgment models it
Between separate, otherwise test for intersection is carried out to the OBB of internal layer, the result intersected according to outer layer AABB can simplify the phase between OBB
Test is handed over only to carry out the test for intersection of 5 separation shafts, with all son sections of one of node if also intersecting between judging OBB
Point carries out test for intersection with another node, until bounding volume hierarchy (BVH) tree traverses leaf node.
3rd step, triangle test for intersection：In second step in different levels bounding volumetree in leaf node AABB and
In the case that OBB is intersecting, we carry out included triangle therein test for intersection, and when test is believed with the correlation of OBB
Breath replaces the coordinate value of triangle.
As a preferred embodiment, in step 1 during bounding box in calculate node, the OBB of internal layer is first calculated, according to
AABB is overlapped with OBB midpoints, and the information of the AABB of outer layer can quickly be calculated using the midpoint of OBB.
As a preferred embodiment, when step 2 carries out test for intersection to the OBB of internal layer, according to the intersecting of the AABB of outer layer
As a result the characteristics of surrounding OBB with outer layer AABB only chooses 15 potential separation shaft { a0, a1, a2, b0, b1, b2, c00, c01, c02,
c10, c11, c12, c20, c21, c22In five separation shaft { a0, b0, c22, c12, c21Carry out walk through test, wherein aiAnd bjRespectively
Represent the direction on three sides of bounding box A and B, subscript value represents the magnitude relationship of projection of the bounding box on this axis, a0It is parallel
Shortest a line, c in bounding box AijRepresent aiAnd bjMultiplication cross, if 5 separation shafts not can determine that OBB separate, sentence
Intersect between disconnected OBB.
As a preferred embodiment, when carrying out test for intersection to triangle in step 3, the coordinate of triangle is directly used
Value, which carries out test, to be needed in the case where the triangle of the same coordinate system is transformed into the same coordinate system, not obtained according to OBB test for intersection
Median, with these medians replace triangle coordinate carry out test for intersection.If two triangles to be measured be respectively A and
B, the coordinate value after being substituted using above-mentioned median are A1=(I1, 0,0), A2=(a1, d1, 0), A3=(0,0,0), B1=rx*I2
+ T, B2=rx*a2+ry*d2+ T, B3=T.Wherein Ii、diRepresent the length and width of the rectangle of encirclement triangle, aiOBB can calculated
It is obtained during surrounding, R [rx, ry, rz] and T [t1, t2, t3] represent to surround the rectangular transform of triangle respectively to same coordinate
Spin matrix and translation vector under system.
【Advantageous effect】
Compared with prior art, the present invention has following conspicuousness progress and advantageous effect：
Technical solution of the present invention utilizes the phase between simple AABB by setting the collision checking method of double envelopment box
The situation for handing over test troubleshooting model spacing distance larger, when model spacing distance is smaller and outer layer AABB is intersecting, utilizes AABB
Test for intersection between intersecting result optimizing OBB, the calculation amount of reduction OBB test for intersection can promote entire bounding box and intersect
The efficiency of test process.In the element figure test for intersection stage, according to the characteristics of OBB encirclement triangles, intersect using between OBB
The calculated median of test replaces the coordinate value of triangle, eliminates the step for triangular coordinate in different models converts
It can be with the efficiency in method for improving intermediate cam shape test for intersection stage.
4th, illustrate
Fast Collision Detection Algorithm work flow diagram of the attached drawing 1 based on hybrid hierarchy bounding box
The double envelopment box of 2 object under test of attached drawing and the Minkowski of bounding box and
5th, specific embodiment
The present invention is further described below in conjunction with the accompanying drawings.
A kind of Fast Collision Detection Algorithm based on hybrid hierarchy bounding box, includes the following steps：
The first step, structure hybrid hierarchy bounding volumetree (BVH)：Top-down method is used to be each in virtual environment
Model construction bounding volume hierarchy (BVH) tree, the structure of tree are binary tree, the AABB information comprising outer layer in each node of tree, internal layer
OBB information and comprising triangle coordinate information.Oriented bounding box OBB is a cuboid, with a central point, one
Spin matrix and three 1/2 length of sides represent.The present invention passes through meter using a kind of method that OBB bounding boxs are calculated based on PCA
The covariance matrix C of all triangle points in model is calculated, three feature vectors for then obtaining C again are three sides of OBB
Direction, finally according to the extreme value on three axis of all triangular apex in model can wait until OBB three length of sides.If
There is n triangle (p in modelk, qk, rk), wherein 0≤k≤n, covariance matrix are as follows：
Wherein akAnd mkThe area and barycenter of triangle k is represented respectively.The wherein gross area and barycenter of model： The coordinate components (x, y, z) that subscript i and j expression are taken.The AABB of outer layer leads to
In the vertex for the maximin that all vertex of triangle in overscanning node project in three reference axis and combination
The midpoint of the OBB bounding boxs of layer is i.e. available.
Second step, the test for intersection between bounding box：To being carried out between the encirclement in the node of different levels bounding volumetree
Test for intersection, first in root node outer layer AABB carry out test for intersection, if being separated between AABB, direct judgment models it
Between separate, otherwise test for intersection is carried out to the OBB of internal layer, the result intersected according to outer layer AABB can simplify the phase between OBB
Test is handed over only to carry out the test for intersection of 5 separation shafts.As shown in Fig. 2, (a) in Fig. 2 represents the outer layer of two models A and B
AABB intersects the OBB for needing further to detect its internal layer, (b) represent these bounding boxs Minkowski and.On Min Kefu
Si Ji and, have following theorem：Give two OBB bounding box A and B, their Minkowski andb∈B}
It is a convex polyhedron,(A and B intersect) is of equal valueOrWherein p and q is represented in A and B
Heart point, therefore judge whether A and B intersects, it need to only judge whether p (q) is included in the A's after being translated along vector-Op (- Oq) and B
Minkowski and interior.
Fig. 2 is shown in the case where outer layer AABB intersects, and the priority and bounding box of the separation shaft between OBB are on axis
Projected length relation.Left figure (a) represents the bounding box of object A and object B, and the polygon of white area is in right figure (b)
(a) Minkowski of two OBB in and, the rectangle of outside then for the AABB in (a) Minkowski and.Due to figure
(a) AABB intersects in, therefore the midpoint (coincidence of OBB and AABB midpoints) of the bounding box of object A (B) must be located at the square in (b)
The certain point of shape.When midpoint is located at the white area in rectangle, a0, a1, b0, b1 cannot function as the separation shaft between OBB,
Intersect between the OBB of object A and B；When midpoint is located at the gray area in rectangle, a0 or b0 determine to separate between OBB；In the middle
When point is located at black region, the separation shaft of a1 or b1 between OBB.Understand that black region occupied area is much according to Fig. 2 (b)
Less than white area and gray area and, thus may determine that in the case where outer layer AABB intersects, projections of the OBB on axis
Smaller then this axis is bigger as the possibility of separation shaft.A large amount of practice result tables are finally combined according to the priority of these separation shafts
Bright test { a0, b0, c22, c12, c21Five potential separation shafts when method efficiency highest.
3rd step, triangle test for intersection：In second step in different levels bounding volumetree in leaf node AABB and
Situation all intersecting OBB, we carry out included triangle therein test for intersection, with OBB test for intersection during test
Median replaces the coordinate value of triangle.Two triangles to be measured are respectively A and B, use the seat after above-mentioned median replacement
Scale value is A1=(I1, 0,0), A2=(a1, d1, 0), A3=(0,0,0), B1=rx*I2+ T, B2=rx*a2+ry*d2+ T, B3=T.
Wherein Ii、diRepresent the length and width of the rectangle of encirclement triangle, aiIt can be obtained during calculating OBB and surrounding, R [rx, ry, rz]
With T [t1, t2, t3] represented respectively by the spin matrix and translation vector under the rectangular transform to the same coordinate system for surrounding triangle.
Claims (4)
1. a kind of method of the Fast Collision Detection based on hybrid hierarchy bounding box, general characteristic is, comprises the following steps：
The first step, structure hybrid hierarchy bounding volumetree (BVH)：Top-down method is used as each model in virtual environment
Level bounding volumetree is built, the structure of tree is binary tree, and AABB information, the OBB of internal layer of outer layer are included in each node of tree
Information and comprising triangle coordinate information, the computation sequence of bounding box is calculates AABB after first calculating OBB.
Second step, the test for intersection between bounding box：To intersecting between the encirclement in the node of different levels bounding volumetree
Test carries out test for intersection to the outer layer AABB in root node first, if being separated between AABB, divides between direct judgment models
From, otherwise test for intersection is carried out to the OBB of internal layer, the result intersected according to outer layer AABB can simplify the intersecting survey between OBB
Examination only carries out a test for intersection for 5 separation shafts, if also intersecting between judge OBB with whole child nodes of one of node and
Another node carries out test for intersection, until bounding volume hierarchy (BVH) tree traverses leaf node.
3rd step, triangle test for intersection：AABB and OBB be in leaf node in different levels bounding volumetree in second step
In the case of intersecting, we carry out included triangle therein test for intersection, and when test is replaced with the relevant information of OBB
The coordinate value of triangle.
2. the method for the Fast Collision Detection according to claim 1 based on hybrid hierarchy bounding box, which is characterized in that step
In rapid one during bounding box in calculate node, the method based on PCA is first used to calculate the OBB of internal layer, then according to AABB with
OBB midpoints overlap, recycle OBB midpoint be quickly calculated outer layer AABB information.
3. the method for the Fast Collision Detection according to claim 1 based on hybrid hierarchy bounding box, which is characterized in that step
When the OBB of rapid two pairs of internal layers carries out test for intersection, the spy of OBB is surrounded according to the intersecting result of the AABB of outer layer and outer layer AABB
Point only chooses 15 potential separation shaft { a0, a1, a2, b0, b1, b2, c00, c01, c02, c10, c11, c12, c20, c21, c22In five
Separation shaft { a0, b0, c22, c12, c21Carry out walk through test, wherein aiAnd biThe side on three sides of bounding box A and B is represented respectively
To subscript value represents the magnitude relationship of projection of the bounding box on this axis, a0Parallel to shortest a line in bounding box A, cij
Represent aiAnd bjMultiplication cross, if 5 separation shafts not can determine that OBB is separated, judge to intersect between OBB.
4. the method for the Fast Collision Detection according to claim 1 based on hybrid hierarchy bounding box, which is characterized in that step
When carrying out test for intersection to triangle in rapid three, directly carrying out test needs using the coordinate value of triangle will not be in same coordinate
The triangle of system is transformed under the same coordinate system, and according to the median that OBB test for intersection obtains, triangle is replaced with these medians
The coordinate of shape carries out test for intersection.If two triangles to be measured are respectively A and B, the coordinate after being substituted using above-mentioned median
It is worth for A1=(l1, 0,0), A2=(a1, d1, 0), A3=(0,0,0), B1=rx*l2+ T, B2=rx*a2+ry*d2+ T, B3=T.Its
Middle li、diRepresent the length and width of the rectangle of encirclement triangle, aiIt can be obtained during calculating OBB and surrounding, R [rx, ry, rz] and
T[t1, t2, t3] represented respectively by the spin matrix and translation vector under the rectangular transform to the same coordinate system for surrounding triangle.
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| CN113554012A (en) * | 2021-09-22 | 2021-10-26 | 江西博微新技术有限公司 | Primitive model classification method, system, equipment and storage medium in three-dimensional engineering |
| CN113781846A (en) * | 2021-09-28 | 2021-12-10 | 中国人民解放军空军工程大学 | Horizontal dimension airspace conflict detection method |
| CN114012726A (en) * | 2021-11-08 | 2022-02-08 | 南京航空航天大学 | Aerospace mechanical arm collision detection method |
| CN114707880A (en) * | 2022-04-18 | 2022-07-05 | 国网北京市电力公司 | Component crossing risk identification method, device, equipment and medium |
| CN114707880B (en) * | 2022-04-18 | 2024-02-13 | 国网北京市电力公司 | Component crossing risk identification method, device, equipment and medium |
| CN116049995A (en) * | 2023-03-15 | 2023-05-02 | 中国空气动力研究与发展中心高速空气动力研究所 | Special mechanism collision prediction method based on virtual prototype in interstage separation test |
| CN116049995B (en) * | 2023-03-15 | 2023-06-02 | 中国空气动力研究与发展中心高速空气动力研究所 | Special mechanism collision prediction method based on virtual prototype in interstage separation test |
| CN117252901A (en) * | 2023-10-24 | 2023-12-19 | 郑州轻工业大学 | Multi-axis numerical control machine tool safety production prediction and early warning method based on digital twinning |
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