KR101341397B1 - Method for sensing contact and finding contact points - Google Patents

Abstract

The present invention is a method for detecting a contact point and finding a contact point performed by a computing device of a system in a large amount of contact system such as debris of an exploding object, the object including all components of each object for each contact object Generating a box and assigning a unique object box ID to each generated object box; and generating a space box containing all of the object boxes; and dividing the space box, and splitting space ID for each divided space. And determining whether two or more object boxes exist in the same partition, and if so, pair IDs of the partitions with IDs of object boxes existing in the partitions and store them as contact candidate candidates. Creating a contact expected box region; and constructing points of objects included in the contact expected box region as a contact construction point. The step of extracting; And finding contact points with the extracted component points for the pair of objects for which contact is expected.

Description

{Method for sensing contact and finding contact points}

The present invention relates to a method of detecting a contact and finding a contact point, and is applicable to a large amount of contact systems such as debris of an exploding object.

1A and 1B illustrate a conventional method of finding a contact point by detecting a contact, and FIG. 1A illustrates a method of detecting a contact, and FIG. 1B illustrates a method of finding a contact point.

As shown in FIG. 1A, the conventional method first detects a contact with respect to an object (objects A, B, and C) existing in a region to be touched, wherein a contact detection calculation is performed for all components constituting each object. To perform. Then, as shown in FIG. 1B, contact point calculation is performed on all of the touch-sensitive construction points.

As described above, the conventional method detects a contact in a one-to-one correspondence with respect to all component points of each target object to be contacted, and calculates a contact point again for the component points where the contact is detected. Therefore, in the conventional method, assuming that the number of objects to be contacted is n and the number of constituent points of each object is N, the calculation amount of 'contact detection' may be expressed as Equation 1 below.

If the number of touch-sensitive objects is m and the number of touch-sensitive components of each object is M, the calculation amount of 'finding a contact point' may be expressed as in Equation 2 below.

Therefore, the conventional method for finding a contact point as described above has a problem in that the amount of calculation increases exponentially when the number and construction points of contact objects such as the corresponding fragments of the bullet response system are large.

SUMMARY OF THE INVENTION The present invention has been made to solve this problem, and significantly reduces the amount of contact calculation according to the number of objects to be contacted and the number of object construction points, so that the present invention can be effectively applied to a large number of contact systems such as debris of explosive objects. Its purpose is to provide a method of sensing contact and finding contact points.

In order to achieve the above object, a method of detecting a contact and finding a contact point according to an embodiment of the present invention, for each of the object to be contacted generates an object box containing all components of each object and generated object box Assigning a unique object box ID for each; and generating a space box including all of the object boxes; dividing the space box and assigning a partition space ID to each divided space; Determining whether two or more object boxes exist in the partition space, and if present, pairing IDs of the partition space and IDs of the object boxes existing in the partition space to store them as contact candidate candidates and generating a contact prediction box area. ;Wow,

Extracting components of objects included in the contact expected box region as contact components; And finding contact points with the extracted component points for the pair of objects for which contact is expected.

The space box is preferably a minimum size box containing all object boxes.

The contact prediction box area is defined as a collection of partition spaces having the same object box IDs among the contact candidate candidates paired with the partition space ID and the object box IDs.

In addition, if only one object box exists in the contact expected box area, the contact point is excluded.

According to the method of the present invention, the amount of contact calculation according to the number of objects to be contacted and the number of object construction points is compared with the method of finding an existing contact point by expressing objects and spaces in the area to be contacted using the object box and the space partition box. It will be significantly reduced. Accordingly, it is possible to effectively apply a large amount of contact system such as debris of an exploding object by determining the appropriate partition size.

1A and 1B illustrate a conventional method of finding a contact point. FIG. 1A illustrates a method of detecting a contact, and FIG. 1B illustrates a method of finding a contact point.
2 is a flowchart illustrating a method of detecting a contact and finding a contact point according to an exemplary embodiment of the present invention.
3 is a view for explaining the generation of the object box of FIG.
4 is a view for explaining the creation of a space box of FIG.
FIG. 5 is a diagram for describing generation of a divided space of FIG. 2.
6 and 7 are views for explaining the extraction of the contact point of Figure 2, Figure 6 shows the generation of the contact expected box area, Figure 7 is to extract the contact point included in the contact expected box area Indicates.
8 is a view for explaining a step of finding the contact point of FIG.

Analytically, contact refers to a state in which surfaces of different objects overlap each other in space, and an object to calculate a contact is represented by nodes. The process of calculating the contact can be expressed in three stages: touch sensing, contact point finding, and contact force generation. First, we need to find the components included in the area where contact occurs. This process is called touch detection. After finding the construction points of the area where contact occurs, we need to find the construction point where the contact force is generated between the contact points. This process is called contact point search. After finding the contact points, the contact force is calculated for each contact point and this is called contact force generation. The method of the present invention described below relates to touch sensing and contact point finding in a three step process of calculating a contact.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

2 is a flowchart illustrating a method of detecting a contact and finding a contact point according to an exemplary embodiment of the present invention.

2, the method according to a preferred embodiment of the present invention is the object box generation step (S210), the space box generation step (S220), the partition space generation step (S230), contact component point extraction step (S240), contact point A search step S250 is included.

3 is a view for explaining the creation of the object box. The generation of the object box (S210) will be described with reference to FIG. 3.

First, in step S210, an object box including all components of each object is generated for each object to be contacted present in an area where contact occurs. For identification, each created object box is assigned a unique object box ID. 3 shows three objects (Object A, Object B, Object C) as the object to be contacted, and the object boxes (Object Box A, Object Box B, Object) for the three objects A, B, and C, respectively. Box C) is generated.

FIG. 4 is a diagram for describing generation of a space box for the object boxes of FIG. 3.

Referring to FIG. 4, in step S220, a space box including all object boxes generated in step S210 is generated. The space box is preferably a minimum size box containing all object boxes. 4 shows that one space box including all three object boxes (object boxes A, B, and C) generated in FIG. 3 is generated.

FIG. 5 is a diagram illustrating generation of a divided space with respect to the space box of FIG. 4.

Referring to FIG. 5, in step S230, a partition is generated by dividing the space box generated in step S220 into a predetermined size, and a unique partition ID for each partition is assigned to identify each partition. Grant. FIG. 5 shows that one space box generated in FIG. 4 is divided into divided spaces having a constant size.

6 and 7 are views showing the extraction of the contact point according to an embodiment of the present invention, Figure 6 shows the generation of the contact expected box area, Figure 7 is a contact configuration included in the contact expected box area Indicates to extract points.

The above-described contact point extracting step S240 may include generating a contact expected box area and extracting a contact point included in the contact expected box area. In step S240, first, it is determined whether two or more object boxes exist in the same partition space, and if present, IDs of the partition spaces and IDs of object boxes existing in the partition space are paired and stored as contact candidate candidates. In this case, in the contact prediction candidates paired with the partition space IDs and the object box IDs, a contact prediction box area is defined as a collection of partition spaces having the same object box IDs as pairs. Areas 1 and 2 are shown. As shown in FIG. 6, the contact expected box area may have only one partition space or several partition spaces as its components. Subsequently, as shown in FIG. 7, the component points of the objects included in the contact expected box region are extracted as the component point where the touch is detected, that is, the contact component point. On the other hand, as shown in the contact expected box 1 region of FIG. 7, if a component point included in the contact predicted box region exists for only one object box, actual contact does not occur, and thus is excluded from the contact configuration point. When the contact point is extracted, the next step (S250) of finding the contact point is performed.

8 is a diagram illustrating a step (S250) of finding a contact point according to an exemplary embodiment of the present invention.

In step S250, the contact points are found in a one-to-one correspondence with the contact components extracted in step S240 for the pair of objects for which contact is expected. 8 shows finding contact points in a one-to-one correspondence with respect to the contact points, that is, the points of the object box A and the object box B included in the contact expected box 1 area.

As described above, in the present invention, the concept of the object box and the space box is introduced, and the amount of contact calculation can be reduced by preliminarily dividing the space box to exclude the component points of the objects existing in the area where the contact is not expected from the contact calculation. As a result, the contact calculation time can be shortened. As a result, even when a large amount of contact calculation is required, such as in the case of analyzing a large amount of contact system such as debris of an exploding object, efficient calculation is possible.

The method of the present invention described above may be performed in a separate computing device (for example, a computer) or may be performed in a computing device integrated into a system requiring contact calculation.

Although one preferred embodiment of the present invention has been described in detail above, this is merely exemplary and is not intended to limit the present invention. The scope of the present invention should not be limited to the embodiments described above, but should be defined not only by the scope of the following claims, but also by the equivalents of the claims. Therefore, those skilled in the art will understand that various changes, modifications, changes, and the like can be made without departing from the scope of the present invention.

S210: Object Box Creation Step
S220: step of creating a space box
S230: partition generation step
S240: Extraction of the contact point
S250: step of finding contact points

Claims (4)

As a method of detecting a contact and finding a contact point, performed by the computing unit of the system where contact calculation is required:
Generating an object box including all components of each object for each object to be contacted, and assigning a unique object box ID to each generated object box;
Creating a space box containing all of the object boxes;
Dividing the space box and assigning a partition space ID to each partition space;
It is determined whether two or more object boxes exist in the same partition space, and if so, the ID of the partition space and the IDs of the object boxes existing in the partition space are paired and stored as a contact prediction candidate to generate a contact prediction box area. step;
Extracting components of objects included in the contact expected box region as contact components; And
And finding contact points with the extracted component points for a pair of objects for which a contact is expected. The method of claim 1,
And the space box is a minimum size box including all object boxes. 3. The method according to claim 1 or 2,
And the contact prediction box area is a touch point defined by a collection of partition spaces having pairs of identical object box IDs among pairs of contact prediction candidates paired with partition space IDs and object box IDs. The method of claim 3,
Detecting a contact excluded from the contact construction point and finding a contact point when only one object box exists in the contact expected box region.

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