CN111177888B - Simulation scene collision detection method and system - Google Patents
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Abstract
The embodiment of the invention provides a simulation scene collision detection method and a simulation scene collision detection system, which are used for respectively obtaining the most salient points corresponding to two objects to be detected and calculating a first distance between the two most salient points; if the first distance is not zero, splitting the two objects to be detected respectively to obtain corresponding sub-objects, and calculating a second distance between the two salient points on the two sub-objects at the same height; and if the first distance is zero or the second distance is zero, judging that the two objects to be detected collide at the moment. The problem of real-time performance of object collision detection can be effectively solved, and along with the split detection of the objects, the collision detection error caused by the penetrating phenomenon of the two objects can be properly reduced.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a system for detecting collision of a simulation scene.
Background
In the process of three-dimensional simulation, in order to improve the physical reality and the presence of a user in a simulation scene, a collision detection technology is born, the technology originates in the seventies of the last century, and initially, due to the immaturity of the technology, collision detection only exists in static objects. Then, with the increasing requirements for real-time performance and simulation fidelity, dynamic collision detection technology gradually appears.
At present, the method is divided into two algorithms of discrete collision detection and continuous collision detection according to different time processing modes. However, the defects of the discrete collision detection have the following two problems, namely, the first problem is that the piercing phenomenon exists, the sampling time is too long, and the mutual penetration phenomenon may exist between two objects; the second is the phenomenon of missing detection, because objects with relatively small or narrow width (such as the width and size of a person relative to a truck) exist in the simulation scene; the continuous collision detection is to judge the intersection condition of the moving object and other objects within a period of time, and although the two defects of the discrete collision detection can be effectively processed, the calculation amount is large due to too many taken vertexes and time, so the calculation efficiency is not high. Meanwhile, the collision detection based on the object space can be divided into an object space and an image space according to different space processing, and currently, a space analysis method and a hierarchical bounding box tree method are adopted, and although the collision detection efficiency and robustness are improved to a great extent by the algorithms, the algorithms are not suitable for a complex simulation scene due to too large calculation amount. The collision detection algorithm based on the image space mainly utilizes the GPU to calculate whether two objects collide, and because part of calculation is distributed to hardware, the calculation detection efficiency is improved.
Therefore, it is desirable to provide a new collision detection method for a simulation scene.
Disclosure of Invention
Embodiments of the present invention provide a method and system for interprocess communication based on a publish-subscribe pattern, which overcome the above problems or at least partially solve the above problems.
In a first aspect, an embodiment of the present invention provides a method for detecting a collision in a simulation scene, including:
respectively acquiring two most salient points corresponding to the two objects to be detected, and calculating a first distance between the two most salient points;
if the first distance is not zero, splitting the two objects to be detected respectively to obtain corresponding sub-objects, and calculating a second distance between the two salient points on the two sub-objects at the same height;
and if the first distance is zero or the second distance is zero, judging that the two objects to be detected collide at the moment.
Optionally, the calculating a first distance between two most salient points specifically includes:
respectively acquiring coordinates of the most salient points of the two objects to be detected in a Cartesian coordinate system;
and calculating a first distance between the two most salient points according to the coordinates.
Optionally, the method further comprises:
if the first distance is zero or the second distance is zero, traversing and recording the coordinates of the feature points of the two objects, then performing random value selection on the points of the two sub-objects to calculate and detect whether the conditions of collision are met
In a second aspect, an embodiment of the present invention provides a simulation scene collision detection system, including:
the first distance calculation module is used for respectively acquiring the corresponding most salient points of the two objects to be detected and calculating a first distance between the two most salient points;
the second distance calculation module is used for splitting the two objects to be detected respectively to obtain corresponding sub-objects if the first distance is not zero, and calculating a second distance between the two salient points on the two sub-objects at the same height;
and the judging module is used for judging that the two objects to be detected collide at the moment if the first distance is zero or the second distance is zero.
Optionally, the first distance calculating module is specifically configured to:
respectively acquiring coordinates of the most salient points of the two objects to be detected in a Cartesian coordinate system;
and calculating a first distance between the two most salient points according to the coordinates.
Optionally, the system further comprises a traversal module configured to:
if the first distance is zero or the second distance is zero, traversing and recording the coordinates of the feature points of the two objects, and then performing random value selection to select the points of the two sub-objects to calculate and detect whether the conditions of collision are met.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the simulation scene collision detection method provided in the first aspect when executing the program.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the simulation scene collision detection method as provided in the first aspect.
According to the method and the system for detecting the collision of the simulation scene, essence is taken from the original level bounding box and ant colony algorithm, and then a new algorithm is obtained by mutual fusion.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a flowchart of a collision detection method for a simulation scene according to an embodiment of the present invention;
FIG. 2 is a flow chart of a specific implementation of a method for detecting collision in a simulation scenario in an embodiment of the present invention;
fig. 3 is a block diagram of a simulation scene collision detection system according to an embodiment of the present invention;
fig. 4 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a collision detection method for a simulation scene according to an embodiment of the present invention, as shown in fig. 1, the method includes:
s101, respectively obtaining the most salient points corresponding to two objects to be detected, and calculating a first distance between the two most salient points;
s102, if the first distance is not zero, splitting the two objects to be detected respectively to obtain corresponding sub-objects, and calculating a second distance between the two salient points on the two sub-objects at the same height;
s103, if the first distance is zero or the second distance is zero, judging that the two objects to be detected collide.
Specifically, the embodiment of the present invention is changed in a dynamic scene, that is, as time goes on, the following variable sets may also be changed, and the scheme may include the following steps:
(1) placing two objects to be detected in a Cartesian coordinate system, and recording coordinates of feature points and salient points of the two objects;
(2) calculating the distance between the coordinates of the salient points of the two objects along with the change of time;
(3) if the collision does not occur, dividing the two objects into a plurality of sub-objects according to rules, selecting a plurality of pairs of two objects with the same height at the same time, recording the coordinates of the salient points of the two objects, and calculating and detecting the coordinate distance;
(4) if the distance between the two coordinates meets a certain condition, traversing and recording the coordinates of the feature points of the two objects, and then performing random value selection to select the points of the two objects to calculate and detect whether the distance meets the condition of collision;
(5) continuously dividing the sub-objects until the two objects become the most basic three-dimensional model, and simultaneously carrying out calculation and judgment on the distance between two points along with the difference of the sets and the difference of point detection caused by the advancing of time;
(6) the routine may end with the collision detection or the number of detections reaching a certain number.
According to the simulation scene collision detection method provided by the embodiment of the invention, essences are taken from the original level bounding box and ant colony algorithm, and then a new algorithm is obtained by mutual fusion.
In an optional embodiment of the present invention, the calculating a first distance between two most salient points specifically includes:
respectively acquiring coordinates of the most convex points corresponding to the two objects to be detected in a Cartesian coordinate system;
and calculating a first distance between the two most salient points according to the coordinates.
In an optional embodiment of the invention, the method further comprises:
if the first distance is zero or the second distance is zero, traversing and recording the coordinates of the feature points of the two objects, and then performing random value selection to select the points of the two sub-objects to calculate and detect whether the conditions of collision are met.
Specifically, as shown in fig. 2, the method of the embodiment of the present application may include the following steps:
(1) placing two moving objects to be detected in a Cartesian coordinate system, and taking vertex and bump sets A { { xa1, ya1, za1}, … { xan, yan, zan }, { xat, yat, zat } } of the two objects, B { { xb1, yb1, zb1}, … { xbn, ybn, zbn }, { xbt, ybt, zbt } } (n depends on the complexity of the two objects, and n is the number of vertexes of the two objects);
(2) the distance between the bumps in the two sets is calculated by the following formula:
dic0＝sqrt((xbt-xat)2+(ybt-yat)2+(zbt-zat)2)-Sa-Sb
wherein, Sa and Sb are displacements of the two objects during the period, and determine whether dic0 is equal to 0, and if it is equal to 0, jump to step (4); if not, entering the step (3);
(3) splitting the two objects into a plurality of objects according to rules, returning two sub-objects at the same height to the first step for detection, if the distance between two salient points of the sub-objects is equal to 0, performing the 4 th step, otherwise, continuing to split the objects until the simplest three-dimensional image is obtained;
(4) traversing two sub-objects with the salient point distance of 0, taking coordinates of all characteristic points on the two objects, and storing the coordinates into a C set and a D set;
(5) and randomly taking two points of the C and D sets according to a random function generated by the system time, calculating the distance dic of the point, judging that two objects collide if dic is 0, and judging that the two objects collide if dic is! If 0, go to step 6
(6) Storing the two original index values in E and F, randomly taking E, F index values again, and adding one to obtain index _ a +1 and index _ b +1, collecting C and D to obtain corresponding feature points, and then calculating whether the distance between the two points is collided; if no collision exists, adding the point into the index value, continuously and randomly taking two values, wherein the two values taken at the moment cannot be the index value taken at the previous time, and if the two values are the same, re-taking the index value, and judging whether the distance between the two points exists again;
(7) the whole generation process shifts along with time and detection is deep, the values of all sets are dynamically changed, when the detection is not performed once, the parameter i is used for counting, when i is larger than the total length of the C set and the D set, the detection is stopped, and in this way, the distance between two points is not 0, and the two objects do not collide.
Fig. 3 is a block diagram of a collision detection system for a cross-simulation scene provided in an embodiment of the present invention, and as shown in fig. 3, the system includes: a first distance calculating module 301, a second distance calculating module 302 and a judging module 303. Wherein the content of the first and second substances,
the first distance calculation module 301 is configured to obtain the respective most protruding points of the two objects to be detected, and calculate a first distance between the two most protruding points;
the second distance calculating module 302 is configured to split the two objects to be detected to obtain corresponding sub-objects, and calculate a second distance between the two bumps on the two sub-objects at the same height, if the first distance is not zero;
the determining module 303 is configured to determine that the two objects to be detected collide with each other at this time if the first distance is zero or the second distance is zero.
The simulation scene collision detection system provided by the embodiment of the invention takes the essence of the original level bounding box and ant colony algorithm, and then mutually fuses to obtain a new algorithm, the algorithm is used for dynamically detecting the collision effect of the object along with the time, the real-time problem of object collision detection can be effectively solved, and the collision detection error caused by the penetration phenomenon of two objects can be properly reduced along with the splitting detection of the object.
Further, the first distance calculation module is specifically configured to:
respectively acquiring coordinates of the most salient points of the two objects to be detected in a Cartesian coordinate system;
and calculating a first distance between the two most salient points according to the coordinates.
Further, the system further comprises a traversal module for:
if the first distance is zero or the second distance is zero, traversing and recording the coordinates of the feature points of the two objects, and then performing random value selection to select the points of the two sub-objects to calculate and detect whether the conditions of collision are met.
Fig. 4 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 4, the electronic device may include: a processor (processor)410, a communication interface (communication interface)420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 may invoke a computer program stored on the memory 430 and executable on the processor 410 to perform the network topology detection methods provided by the above-described method embodiments, including, for example: respectively acquiring two most salient points corresponding to the two objects to be detected, and calculating a first distance between the two most salient points; if the first distance is not zero, splitting the two objects to be detected respectively to obtain corresponding sub-objects, and calculating a second distance between the two salient points on the two sub-objects at the same height; and if the first distance is zero or the second distance is zero, judging that the two objects to be detected collide at the moment.
In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
An embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the network topology detection method provided in the foregoing method embodiments, and for example, the method includes: respectively acquiring two most salient points corresponding to the two objects to be detected, and calculating a first distance between the two most salient points; if the first distance is not zero, splitting the two objects to be detected respectively to obtain corresponding sub-objects, and calculating a second distance between the two salient points on the two sub-objects at the same height; and if the first distance is zero or the second distance is zero, judging that the two objects to be detected collide at the moment.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A simulation scene collision detection method is characterized by comprising the following steps:
respectively acquiring two most salient points corresponding to the two objects to be detected, and calculating a first distance between the two most salient points; the method comprises the steps of formulating a global coordinate system, and marking the vertex coordinates and the most salient point coordinates of two objects; calculating the coordinates of the most salient points of the two opposite objects, and judging whether the first distance between the two most salient points is zero or not;
if the first distance is not zero, splitting the two objects to be detected respectively to obtain corresponding sub-objects, and calculating a second distance between the two salient points on the two sub-objects at the same height;
if the first distance is zero or the second distance is zero, judging that the two objects to be detected collide;
if the first distance is zero or the second distance is zero, traversing and recording the coordinates of the feature points of the two objects, and then performing random value selection to select the points of the two sub-objects to calculate and detect whether the conditions of collision are met;
if the conditions of collision are met, judging that two objects collide, if the conditions of collision are not met, recording the index values of sets where the two points are located by using a new set, randomly selecting two values from the two index value sets, adding 1 to the two values to serve as a new vertex set index to calculate the distance between the two points, counting by using the parameter i when the detection is performed once, stopping the detection when the i is greater than the total length of the two index value sets, and if the distance between the two points is not zero, judging that the two objects do not collide.
2. The method according to claim 1, wherein the calculating of the first distance between the two most salient points comprises:
respectively acquiring coordinates of the most salient points of the two objects to be detected in a Cartesian coordinate system;
and calculating a first distance between the two most salient points according to the coordinates.
3. A simulated scene collision detection system, comprising:
the first distance calculation module is used for respectively acquiring the corresponding most salient points of the two objects to be detected and calculating a first distance between the two most salient points; the method comprises the steps of formulating a global coordinate system, and marking the vertex coordinates and the most salient point coordinates of two objects; calculating the coordinates of the most salient points of the two opposite objects, and judging whether the first distance between the two most salient points is zero or not;
the second distance calculation module is used for splitting the two objects to be detected respectively to obtain corresponding sub-objects if the first distance is not zero, and calculating a second distance between the two salient points on the two sub-objects at the same height;
the judging module is used for judging that the two objects to be detected collide at the moment if the first distance is zero or the second distance is zero; if the first distance is zero or the second distance is zero, traversing and recording the coordinates of the feature points of the two objects, and then performing random value selection to select the points of the two sub-objects to calculate and detect whether the conditions of collision are met;
if the condition of collision is met, judging that the two objects collide, if the condition of collision is not met, recording the index values of the sets of the two points by using a new set, randomly selecting two values from the two index value sets, and adding 1 to be used as a new vertex set index to calculate the distance between the two points until the condition of collision is met.
4. The system of claim 3, wherein the first distance calculation module is specifically configured to:
respectively acquiring coordinates of the most convex points corresponding to the two objects to be detected in a Cartesian coordinate system;
and calculating a first distance between the two most salient points according to the coordinates.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, carries out the steps of the method of collision detection of a simulated scene as claimed in any one of claims 1 to 2.
6. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the simulation scenario collision detection method according to any one of claims 1 to 2.
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| CN112700471B (en) * | 2020-12-31 | 2024-06-07 | 广东美的白色家电技术创新中心有限公司 | Collision detection method, apparatus, and computer-readable storage medium |
| CN116502479B (en) * | 2023-06-29 | 2023-09-01 | 之江实验室 | Collision detection method and device of three-dimensional object in simulation environment |
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