基于OBB算法和前向预防的快速碰撞检测  

Rapid Collision Detection Based on OBB Algorithm and Penetration Avoidance Mechanism

作　　者：王培俊[1] 王文静[1] 陈鹏[2] 何丽亚[3] 

机构地区：[1]西南交通大学机械工程学院,四川成都610031 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001 [3]四川民族学院教育系,四川康定626001

出　　处：《西南交通大学学报》2011年第6期1003-1007,共5页Journal of Southwest Jiaotong University

基　　金：教育部回国人员资助项目(2009S03007)

摘　　要：为提高虚拟装配系统碰撞检测的实时性和真实感,提出了一种基于前向预防的虚拟装配中的防穿透方法,应用方向包围盒(OBB)算法和分层检测机制进行快速碰撞检测,较精确地实现了虚拟装配中虚拟手的抓取释放和防止穿透,克服了虚拟抓取操作中的失真问题.借助数据手套和六自由度跟踪仪,在半沉浸式虚拟装配系统中,针对场景规模较大的电机壳体模具,应用快速碰撞检测算法进行了装配仿真.结果表明,该虚拟装配系统的碰撞响应时间达到毫秒级,没有穿透现象产生,具有较理想的操作真实感.A new penetration avoidance mechanism based on forward prevention was proposed to improve the real time performance and reality of collision detection in virtual assembly systems. In virtual assembly manipulation, grasp and release of virtual objects and penetration avoidance were implemented using an OBB algorithm and a hierarchical detection method to avoid artifact caused by a traditional penetration avoidance algorithm. The proposed algorithm, with the help of a data glove and a tracker with 6 DOF, was applied to a simulation experiment on the virtual assembly of a set of motor shell moulds that had a large virtual scene in a semi-immersive virtual environment. The simulation result demonstrated that the virtual assembly system provided realistic assembly operation for the millisecond collision response without penetration.

关 键 词：碰撞检测 方向包围盒(OBB)算法 穿透预防 失真 虚拟装配 虚拟手 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]