CN108446496A - Water front collision checking method and device in real time in a kind of marine simulator - Google Patents
Water front collision checking method and device in real time in a kind of marine simulator Download PDFInfo
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Abstract
The present invention relates to marine simulator field, water front collision checking method in real time is provided in a kind of marine simulator, water front collision checking method includes in real time in the marine simulator：Step 100 reads original water front data, and carries out simplifying processing to original water front data；Step 200, the simplification water front data to output carry out grid division processing, obtain grid data；Step 300 utilizes obtained grid data, progress ship collision detection.Wherein, step 200 includes the following steps 201 to step 203：Step 201, using water front data are simplified, determine mesh parameter；Step 202, using determining mesh parameter, carry out grid division to simplifying water front data；After step 203, output grid division, obtained grid data.The method of the present invention maintains computational accuracy while reducing the operand of collision detection, can transmit the water front information nearest apart from ship in real time during collision is nonevent.
Description
Technical field
The present invention relates to real-time water front collision checking methods in marine simulator field more particularly to a kind of marine simulator
And device.
Background technology
According to the requirement of marine simulator standard, marine simulator should meet the situation in true environment as much as possible.By
When ship navigates by water near water front, the interaction with water front is mainly reflected in bank effect and collision feedback, so exploitation is high
The collision checking method of effect can enhance the behavior sense of reality of the marine simulator as VR systems.
In the collision detection process of ship and water front, since water front data are more, a large amount of data calculating certainly will expend
Certain time, therefore the water front collision detection in marine simulator is primarily present following two aspects technological difficulties：First, balance is touched
The performance cost of detection module and main program is hit, ensures real-time performance of the program；Second is that after collision occurs, collision information is accurately transmitted
To ship motion mathematical model, facilitate the calculating of ship bank effect and impact force.
In marine simulator field, common water front collision checking method is as follows：
The ship that the method that the prior art one takes bounding box method to be combined with test for intersection method carries out in marine simulator touches
Detection is hit, ship takes AABB bounding boxs, and the artificial collision sensitive spot chosen in the ship direction of motion is coordinated to be detected.Figure
1 is the AABB bounding box schematic diagrames of ship in the prior art one.As shown in Figure 1, the prior art one is in detection process, it is logical first
It crosses bounding box to be detected roughly, then carrying out a little intersection with face by all dough sheets of sensitive spot and model detects.The party
Method needs the artificial sensitive spot chosen in the ship direction of motion, and ship plane motion direction is changing at any time, and different ships
It needs to choose different sensitive spots, the workload manually chosen is larger, and practicability is poor；Due to being detected using sensitive spot,
The result finally detected is whether sensitive spot intersects, and can not provide more accurate point of impingement information, and for ship port
For interior movement, in the case where ship is relatively close apart from water front, ship can be influenced by bank effect, it is difficult to accurately transmit
Water front data information.
The method that the prior art two takes ship contour line carries out water front collision detection, and wherein ship contour line passes through a system
Row scale parameter is calculated and is obtained.Fig. 2 is the ship profile point schematic diagram that the prior art two is built according to proportionality coefficient.Such as Fig. 2 institutes
To show, the prior art two has distinguished solid size head and dicode head situation to the collision detection of water front, and needs to carry out coordinate system conversion,
It is related to a large amount of matrix operations, calculation amount is larger, and the safe distance that the transformed detection of coordinate is manually set based on one, is only capable of
Whether offer collides, and can not further provide accurate point of impingement information, there is certain limitation；Due in the prior art two simultaneously
According to simplified or subdivision is carried out, calculation amount increases non-opposite bank line number in geometry rank when in face of a large amount of water front data, can not ensure
The real-time of algorithm, and do not consider to provide the nearest water front data before not colliding, the meters such as ship bank effect can not be carried out
It calculates.
The prior art three takes axial Box technology, builds collision detection bounding box to ship and pontic respectively, and
Different bounding boxs is chosen according to bridge pier actual conditions to be modeled.Fig. 3 is that the bounding box that three bridge pier of the prior art is established shows
It is intended to.As shown in figure 3, this method is with referring to water front collision detection, but phase Tongfang all can be used with bridge pier for water front threedimensional model
Formula establishes bounding box, and it is huge that this method still has modeling work amount, due to using bounding box, reduces the essence of collision detection
Degree does not refer to the real-time of program operation though the prior art three has carried out certain method optimization.
To sum up, above-mentioned disadvantage of the existing technology is as follows：
1, main method is all based on bounding box method, and bounding box itself is a kind of simplified method, can not be obtained after taking this method
To accurate point of impingement information.
2, the process that ship moves closer to water front was not accounted for, the collision detection on basis is only provided, is not provided in ship
Oceangoing ship is close to nearest apart from ship water front data during water front.
3, be typically to establish bounding box for water front data processing, do not simplified further and divide work with
Further increase real-time performance of the program.
4, manual intervention early period workload is larger, and versatility is relatively low in implementation process.
Invention content
Present invention mainly solves prior art water front collision checking methods to be unable to get accurate point of impingement information, does not provide
The water front data nearest apart from ship, real-time be poor during ship is close to water front, the more low technical problem of versatility,
It proposes in a kind of marine simulator water front collision checking method and device in real time, is protected while reducing the operand of collision detection
Computational accuracy has been held, and has collided the nonevent transmission real-time in the process water front information nearest apart from ship, has been transported for ship
Dynamic mathematical model calculates bank effect and provides data supporting.
The present invention provides real-time water front collision checking methods in a kind of marine simulator, and the method includes following steps
Suddenly：
Step 100 reads original water front data, and carries out simplifying processing to original water front data；
Step 200 carries out grid division processing to simplifying water front data, obtains grid data；
Step 300 utilizes obtained grid data, progress ship collision detection；
Wherein, step 100 includes the following steps 101 to 104：
Step 101 reads original water front data；
Step 102, the original water front data using reading, calculate consecutive points K values in original water front data, obtain K values row
Table；
Step 103 is gone through all over K value lists, and redundant digit strong point is rejected；
Step 104 after rejecting redundant digit strong point, exports and simplifies water front data；
Step 200 includes the following steps 201 to step 203：
Step 201, using water front data are simplified, determine mesh parameter；
Step 202, using determining mesh parameter, carry out grid division to simplifying water front data；
After step 203, output grid division, obtained grid data.
Preferably, it goes through in the following manner all over K value lists, rejects redundant digit strong point：
The K value change rates for calculating consecutive number strong point record corresponding data when K value change rates are more than the threshold value of setting
Point；When change rate is less than the threshold value of setting, which is redundant digit strong point, redundant digit strong point is rejected, until all phases
The K value change rates of adjacent data point are all higher than the threshold value.
Preferably, step 300, utilize obtained grid data, carry out ship collision detection, including step 301 to step
306：
Step 301 receives vessel position data；
Step 302, using grid data and vessel position data, determine the mesh coordinate of ship；
Step 303, the mesh coordinate according to ship expand grid where ship, obtain ship target grid；
Grid data in step 304, acquisition ship target grid；
Step 305, the grid data for traversing ship target grid carry out ship collision detection；
After step 306, ship collision detection, collision information is exported.
Preferably, the coordinate of the ship target grid includes：(i-1, j-1), (i-1, j), (i-1, j+1), (i, j-
1), (i, j), (i, j+1), (i+1, j-1), (i+1, j), (i+1, j+1), wherein the grid where (i, j) ship.
Preferably, the progress ship collision detection, including nearest water front calculates and collision judgment：
Nearest water front calculates, and most short distance is sought using the water front line segment traversal in ship two dimension data point and ship target grid
The nearest water front of ship two dimension offset with a distance from obtaining；
Collision judgment constructs line segment by the adjacent two-dimentional data point of ship and is asked according to line segment with ship target grid inner bank line number
It hands over to judge whether ship collides with water front.
Preferably, the output collision information includes：
When ship does not collide, two water fronts and minimum distance nearest apart from ship are exported, in ship offset
Away from water front closest approach information；When ship and water front collide, Position of collision point information is exported.
Accordingly, the present invention also provides real-time water front collision detecting device, described device packets in a kind of marine simulator
It includes：
Water front simplifies module, for reading original water front data, and carries out simplifying processing to original water front data；
Water front mesh generation module carries out grid division processing, obtains grid number for the simplification water front data to output
According to；
Collision detection module, for using obtained grid data, carrying out ship collision detection.
Preferably, it includes following submodule that the water front, which simplifies module,：
Original water front data submodule is read, for reading original water front data；
K value list submodules are obtained, for using the original water front data read, calculating consecutive points in original water front data
K values obtain K value lists；
Redundant data submodule is rejected, for going through all over K value lists, rejects redundant digit strong point；
Water front data submodule is exported, after rejecting redundant digit strong point, exports and simplifies water front data.
Preferably, the water front mesh generation module includes following submodule：
Mesh parameter submodule is determined, for using water front data are simplified, determining mesh parameter；
Grid division submodule, for using determining mesh parameter, grid division to be carried out to simplifying water front data；
Determine grid data submodule, after exporting grid division, obtained grid data.
Preferably, the collision detection module includes following submodule：
Position submodule is received, for receiving vessel position data；
It determines mesh coordinate submodule, for utilizing grid data and vessel position data, determines the mesh coordinate of ship；
It determines ship target grid submodule, for the mesh coordinate according to ship, grid where ship is expanded,
Obtain ship target grid；
Grid data submodule is determined, for obtaining the grid data in ship target grid；
Ship collision detection sub-module, the grid data for traversing ship target grid carry out ship collision detection；
It exports collision information submodule and exports collision information after ship collision detection.
Real-time water front collision checking method and device, detection side of the invention in a kind of marine simulator provided by the invention
Method has the following advantages compared with prior art：
1, present invention employs water front data reduction algorithm appropriate, the part extremely low to water front Curvature varying carries out letter
Change, reduce water front data volume in the case where keeping water front shape feature, it is simplified after water front data can reduce collision
The operand of detection.
2, present invention employs the two-dimensional grid division of water front data processing, and utilize mapping relations save mesh data,
In collision detection by way of indexing grid, it is only necessary to traverse the water front data in a small amount of grid, considerably reduce operation
Amount, maintains computational accuracy.
3, the present invention considers the case where ship moves closer to water front, is colliding nonevent biography still real-time in the process
The water front information nearest apart from ship is passed, calculating bank effect for ship motion mathematical model provides data supporting.
4, present invention employs ship two-dimensional type Value Data, which can be directly obtained by threedimensional model, compared with proportionality coefficient
The coarse contour line established is more accurate, improves collision detection precision, is not required to manually establish bounding box, reduces artificial work
Amount, while this method can obtain accurate two dimension collision point information, calculating impact force for ship motion mathematical model provides
Data supporting.The nearest water front information that the present invention is fed back can be used in the bank effect in ship motion mathematical model and collision
The calculating of power realizes accurate and real-time water front collision detection.
Description of the drawings
Fig. 1 is the AABB bounding box schematic diagrames of ship in the prior art one；
Fig. 2 is the ship profile point schematic diagram that the prior art two is built according to proportionality coefficient；
Fig. 3 is the bounding box schematic diagram that three bridge pier of the prior art is established；
Fig. 4 is the implementation flow chart of real-time water front collision detection in marine simulator provided in an embodiment of the present invention；
Fig. 5 is the implementation flow chart that original water front data simplify with processing；
Fig. 6 is that water front simplifies effect contrast figure；
Fig. 7 is the implementation flow chart that grid division processing is carried out to simplifying water front data；
Fig. 8 is that Partial Mesh divides schematic diagram；
Fig. 9 is part water front data grids schematic diagram；
Figure 10 is the implementation flow chart of ship collision detection；
Figure 11 is that grid expands schematic diagram；
Figure 12 is ship two dimension offset schematic diagram；
Figure 13 is that collision detection exports schematic diagram.
Specific implementation mode
For make present invention solves the technical problem that, the technical solution that uses and the technique effect that reaches it is clearer, below
The present invention is described in further detail in conjunction with the accompanying drawings and embodiments.It is understood that specific implementation described herein
Example is used only for explaining the present invention rather than limitation of the invention.It also should be noted that for ease of description, attached drawing
In only the parts related to the present invention are shown rather than full content.
Fig. 4 is the implementation flow chart of real-time water front collision detection in marine simulator provided in an embodiment of the present invention.Such as Fig. 4
Shown, real-time water front collision checking method includes following procedure in marine simulator provided in an embodiment of the present invention：
Step 100 reads original water front data, and carries out simplifying processing to original water front data.Fig. 5 is to original water front
Data simplify the implementation flow chart of processing, as shown in figure 5, step 100 specifically includes step 101 to step 104.
Step 101 reads original water front data.
Original water front data are mainly orderly water front point, and original water front data source is in sea chart ENC data, boundary information
It can be obtained by ergodic data after reading original water front data file.
Step 102, the original water front data using reading, calculate consecutive points K values in original water front data, obtain K values row
Table.
Wherein, K values are calculated by adjacent point-to-point transmission slope and are obtained, and all K values preserve in a list, obtain K values row
Table.
Step 103 is gone through all over K value lists, and redundant digit strong point is rejected；
The K value change rates of the analysis data point of the effect of this step, by traversing the above-mentioned K value lists calculated, into one
Step calculates the K value change rates at consecutive number strong point, when K value change rates are more than the threshold value of setting, records corresponding data point；Work as change
It when rate is less than the threshold value of setting, recycles into counting, until K values change rate is again more than the threshold value, passes through in cycle
Data point be redundant digit strong point, slope variation is smaller, and redundant digit strong point is rejected.
Step 104 after rejecting redundant digit strong point, exports and simplifies water front data.
The water front data read are subjected to the analysis of K value change rates, the water front after simplifying is preserved after rejecting redundant digit strong point,
Output simplifies water front data.For example, the water front simplification Contrast on effect of output is as shown in Figure 6.One row of left side are not simple in Fig. 6
Water front data before change, the row of right side one are the water front data after simplifying, and the water front data after as can be seen from Figure 6 simplifying exist
The slower part of Curvature varying has carried out data and has filtered out, and forms relatively simple straight line, and Curvature varying is bent faster
Part remains original details.
Step 100 is to carry out simplifying processing to sea chart water front data, can be under the premise of not losing water front details, to song
Rate changes extremely low part and suitably simplify, and the water front data of better quality are provided while can reducing data operation quantity.Profit
Disposably all water front data can be simplified with the simplification algorithm of the present invention, and export the water front data after simplifying.
Step 200 carries out grid division processing to simplifying water front data, obtains grid data.Fig. 7 is to simplifying water front number
According to the implementation flow chart for carrying out grid division processing, as shown in fig. 7, step 200 specifically includes step 201 to step 203.
Step 201, using water front data are simplified, determine mesh parameter.
The single sizing grid for dividing water front data is determined first, and single sizing grid can be taking human as input, if not
Using custom parameter, then replaced by program default parameters.Length and width dimensions by single grid and all simplified water front data
The square boundary size at place, can determine lateral and vertical number of grid, and record all mesh parameters being calculated,
Mesh parameter includes the information such as single sizing grid and number of grid.
Step 202, using determining mesh parameter, carry out grid division to simplifying water front data.
The specific method of grid division is：Mesh generation is carried out based on graphics two dimension trimming algorithm, it is true according to previous step
Fixed mesh parameter (sizing grid and quantity), the cutting for carrying out grid one by one to all simplifying water front data, obtains grid number
According to.
The rule of cutting：(1) water front is cut to corresponding grid by the water front data for not closed figure and across grid
In and record the intersection point of net boundary and water front as new addition point；(2) for the water front data of closed figure, water front is cut
To corresponding grid, only retains water front cross-sectional data, do not generate new closed figure.
Cutting process is illustrated, Fig. 8 is that Partial Mesh divides schematic diagram, as water front is not closed figure in Fig. 8-(a)
And across grid, simply water front point cannot be divided in corresponding grid, and will be by way of Graphics Clipping in Grid Edge
Boundary generates new point, and new point is the intersection point of water front and net boundary, no the case where losing data point it will cause net boundary,
Shown in correct result such as Fig. 8-(b)；If water front is closed figure in Fig. 8-(c), then need to consider result in cutting process
Profile line segment rather than closed figure are saved as, shown in correct result such as Fig. 8-(d).The mesh generation of water front data is illustrated,
Export structure is as shown in figure 9, Fig. 9 is part water front data grids schematic diagram.
After step 203, output grid division, obtained grid data.
Ready-portioned grid data is stored in mapping relations in file, and the key values of mapping are mesh coordinate, mapping
Value is all water front data in corresponding single grid, which is stored with set form, facilitates read-write.
Step 200 is that the method for cutting out based on computer graphics carries out two-dimensional grid to the sea chart water front data after simplification
It cuts, water front grid data, the calculation amount being further reduced in collision detection is stored using Mapping data structure.Step 100 to
Step 200 is to establish a grid class CGrid to the preprocessing process of original water front data, realizes the present invention in such
In all preprocessing algorithms for mentioning, and all data informations are saved as to such attribute, such as water front data point range
Table, water front quantity and chart scale and subsequent number of grid, size of mesh opening, the attributes such as grid data.
Step 300 utilizes obtained grid data, progress ship collision detection.The present invention establishes for collision detection process
One collision detection class realizes all collision detection algorithms mentioned in the present invention in such.Figure 10 examines for ship collision
The implementation flow chart of survey, as shown in Figure 10, step 300 specifically include step 301 to step 306.
Step 301 receives vessel position data.
This ship position data transmitted by marine simulator main program are received by the data-interface of public definition.
Step 302, using grid data and vessel position data, determine the mesh coordinate of ship.
Ship can be obtained by the dimension information calculating of single grid in vessel position data and all grid datas to work as
The coordinate of preceding place data grids.
Step 303, the mesh coordinate according to ship expand grid where ship, obtain ship target grid.
Error is calculated to avoid ship from being located at caused by adjacent mesh boundary, the mode for taking grid to expand, to current
Mesh coordinate is simply calculated, and ship target grid is obtained, i.e., 9 grids (include certainly in total around grid where ship
Grid where body) coordinate, Figure 11 is that grid expands schematic diagram.In Figure 11, the grid where ship is (i, j), after expansion
To ship target grid be (i-1, j-1), (i-1, j), (i-1, j+1), (i, j-1), (i, j), (i, j+1), (i+1, j-1),
(i+1, j), (i+1, j+1) totally 9 grids.
Grid data in step 304, acquisition ship target grid.
According to the mapping relations of grid data, the water front data in ship target grid are indexed rapidly.
Step 305, the grid data for traversing ship target grid carry out ship collision detection.
Traversal calculating is carried out to the water front data application collision detection algorithm in the ship target grid that is obtained.In this step
Include mainly the calculating of nearest water front and collision judgment two parts content in rapid, in collision detection algorithm, nearest water front, which calculates, to be utilized
Ship two dimension data point asks the shortest distance to obtain apart from ship two dimension offset most with the water front line segment traversal in ship target grid
Close water front, wherein ship two dimension offset are as shown in figure 12.The present invention selects process by the secondary brush in algorithm, in different situations
Two connected nearest water fronts can be steadily provided down, and line segment and ship target net are constructed by the adjacent two-dimentional data point of ship
Lattice inner bank line number judges whether ship collides with water front according to line segment intersection.
After step 306, ship collision detection, collision information is exported.
Collision information includes mainly two aspect information, when ship does not collide, exports two recently apart from ship
Water front and minimum distance, the information such as ship offset middle-range water front closest approach；When ship and water front collide, output collision
Dot position information, that is, the water front information encountered.Output effect in its test program is as shown in figure 13.Solid black in Figure 13
Circle and overstriking line segment indicate the water front information returned, it can be seen that and though ship with which kind of angle and posture close to water front, detection
Two water front information of return that algorithm can be stablized.
Step 300 takes ship two dimension offset point data to carry out collision detection, and data point can accurately reflect ship wheel
Wide information obtains accurate point of impingement information by the calculating of data point and grid inner bank line number evidence, improves collision detection precision.
In detection process, is obtained apart from nearest water front data, be used for by detecting multiple grid datas of ship position
Bank effect and impact force in ship motion mathematical model calculate.Meanwhile, it is capable to which the point of impingement for obtaining ship and water front is believed
Breath.
The embodiment of the present invention also provides in a kind of marine simulator water front collision detecting device in real time, including：Water front simplifies
Module for reading original water front data, and carries out original water front data to simplify processing；Water front mesh generation module, is used for
To the simplification water front data of output, grid division processing is carried out, grid data is obtained；Collision detection module is obtained for utilizing
Grid data, carry out ship collision detection.
Wherein, it includes following submodule that the water front, which simplifies module,：Original water front data submodule is read, for reading original
Beginning water front data；K value list submodules are obtained, for using the original water front data read, calculating phase in original water front data
Adjoint point K values, obtain K value lists；Redundant data submodule is rejected, for going through all over K value lists, rejects redundant digit strong point；Export bank
Line number is according to submodule, after rejecting redundant digit strong point, exports and simplifies water front data.
The water front mesh generation module includes following submodule：Mesh parameter submodule is determined, for utilizing simplified bank
Line number evidence, determines mesh parameter；Grid division submodule, for using determining mesh parameter, being carried out to simplifying water front data
Grid division；Determine grid data submodule, after exporting grid division, obtained grid data.
The collision detection module includes following submodule：Position submodule is received, for receiving vessel position data；Really
Determine mesh coordinate submodule, for utilizing grid data and vessel position data, determines the mesh coordinate of ship；Determine ship mesh
Grid submodule is marked, for the mesh coordinate according to ship, grid where ship is expanded, ship target grid is obtained；
Grid data submodule is determined, for obtaining the grid data in ship target grid；Ship collision detection sub-module, for time
The grid data of ship target grid is gone through, ship collision detection is carried out；Collision information submodule is exported, after ship collision detection,
Export collision information.
Real-time water front collision inspection can be carried out using real-time water front collision detecting device in marine simulator provided by the invention
It surveys.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its is right
Technical solution recorded in foregoing embodiments is modified, and is either equally replaced to which part or all technical features
It changes, the range for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. real-time water front collision checking method in a kind of marine simulator, which is characterized in that include the following steps：
Step 100 reads original water front data, and carries out simplifying processing to original water front data；
Step 200 carries out grid division processing to simplifying water front data, obtains grid data；
Step 300 utilizes obtained grid data, progress ship collision detection；
Wherein, step 100 includes the following steps 101 to 104：
Step 101 reads original water front data；
Step 102, the original water front data using reading, calculate consecutive points K values in original water front data, obtain K value lists；
Step 103 is gone through all over K value lists, and redundant digit strong point is rejected；
Step 104 after rejecting redundant digit strong point, exports and simplifies water front data；
Step 200 includes the following steps 201 to step 203：
Step 201, using water front data are simplified, determine mesh parameter；
Step 202, using determining mesh parameter, carry out grid division to simplifying water front data；
After step 203, output grid division, obtained grid data.
2. real-time water front collision checking method in marine simulator according to claim 1, which is characterized in that by following
Mode is gone through all over K value lists, and redundant digit strong point is rejected：
The K value change rates for calculating consecutive number strong point record corresponding data point when K value change rates are more than the threshold value of setting；When
When change rate is less than the threshold value of setting, which is redundant digit strong point, redundant digit strong point is rejected, until all adjacent datas
The K value change rates of point are all higher than the threshold value.
3. real-time water front collision checking method in marine simulator according to claim 1, which is characterized in that step 300,
Using obtained grid data, progress ship collision detection, including step 301 to step 306：
Step 301 receives vessel position data；
Step 302, using grid data and vessel position data, determine the mesh coordinate of ship；
Step 303, the mesh coordinate according to ship expand grid where ship, obtain ship target grid；
Grid data in step 304, acquisition ship target grid；
Step 305, the grid data for traversing ship target grid carry out ship collision detection；
After step 306, ship collision detection, collision information is exported.
4. real-time water front collision checking method in marine simulator according to claim 3, which is characterized in that the ship
The coordinate of target gridding includes：(i-1, j-1), (i-1, j), (i-1, j+1), (i, j-1), (i, j), (i, j+1), (i+1, j-
1), (i+1, j), (i+1, j+1), wherein the grid where (i, j) ship.
5. real-time water front collision checking method in marine simulator according to claim 3, which is characterized in that the progress
Ship collision detects, including nearest water front calculates and collision judgment：
Nearest water front calculates, and asks the shortest distance to obtain using ship two dimension data point and the water front line segment traversal in ship target grid
Obtain the water front nearest apart from ship two dimension offset；
Collision judgment, by the adjacent two-dimentional data point of ship construct line segment and ship target grid inner bank line number according to line segment intersection come
Judge whether ship collides with water front.
6. real-time water front collision checking method in the marine simulator according to claim 3 or 5, which is characterized in that described
Exporting collision information includes：
When ship does not collide, two water fronts and minimum distance nearest apart from ship, ship offset middle-range bank are exported
Line closest approach information；When ship and water front collide, Position of collision point information is exported.
7. real-time water front collision detecting device in a kind of marine simulator, which is characterized in that including：
Water front simplifies module, for reading original water front data, and carries out simplifying processing to original water front data；
Water front mesh generation module carries out grid division processing, obtains grid data for the simplification water front data to output；
Collision detection module, for using obtained grid data, carrying out ship collision detection.
8. real-time water front collision detecting device in marine simulator according to claim 7, which is characterized in that the water front
It includes following submodule to simplify module：
Original water front data submodule is read, for reading original water front data；
K value list submodules are obtained, for using the original water front data read, calculating consecutive points K values in original water front data,
Obtain K value lists；
Redundant data submodule is rejected, for going through all over K value lists, rejects redundant digit strong point；
Water front data submodule is exported, after rejecting redundant digit strong point, exports and simplifies water front data.
9. real-time water front collision detecting device in marine simulator according to claim 7, which is characterized in that the water front
Mesh generation module includes following submodule：
Mesh parameter submodule is determined, for using water front data are simplified, determining mesh parameter；
Grid division submodule, for using determining mesh parameter, grid division to be carried out to simplifying water front data；
Determine grid data submodule, after exporting grid division, obtained grid data.
10. real-time water front collision detecting device in marine simulator according to claim 7, which is characterized in that described to touch
It includes following submodule to hit detection module：
Position submodule is received, for receiving vessel position data；
It determines mesh coordinate submodule, for utilizing grid data and vessel position data, determines the mesh coordinate of ship；
It determines ship target grid submodule, for the mesh coordinate according to ship, grid where ship is expanded, is obtained
Ship target grid；
Grid data submodule is determined, for obtaining the grid data in ship target grid；
Ship collision detection sub-module, the grid data for traversing ship target grid carry out ship collision detection；
It exports collision information submodule and exports collision information after ship collision detection.
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