可变形线性体仿真中的碰撞检测算法研究与实现  

Research and Realization of Collision Detection Method Used in Deformable Linear Object Simulation

作　　者：谢世富[1] 马立元[1] 刘鹏远[1] 马龙[2] 

机构地区：[1]军械工程学院,石家庄050003 [2]武汉军械士官学校,武汉430075

出　　处：《系统仿真学报》2013年第9期2177-2183,共7页Journal of System Simulation

摘　　要：虚拟环境下进行可变形线性体真实感模拟时,碰撞检测及响应处理非常复杂,使得仿真的实时性和真实感难以满足要求。首先建立可变形线性体的离散弹性杆模型,并采用预条件共轭梯度法对运动微分方程进行数值积分以得到可变形线性体的动态过程。其次,为正确处理可变形线性体的碰撞检测问题,提出一种分层碰撞检测算法。对于线性体分段碰撞的精确检测,提出了一种基于轴线段最短距离的检测方法,从而无需直接检测基本几何图元的碰撞,进一步提高了效率。在碰撞修正方面,采用直接位置修正和速度修正,并将该过程融合在数值积分过程中,提高了计算速度。实验结果表明,该算法具有较好的实时性与精确性,基本满足运动可变形线性体模拟的需求。As collision detection and response are very time-consuming, it is difficult to meet the demand of real-time and lively effect in physical simulation of deformable linear objects （DLOs）. The model of discrete elastic rods was employed to model DLOs, and the dynamic process was implemented by the integration of differential equations for motion using preconditioned conjugate gradient method. In order to detect the collision ofDLOs, a dual-phase collision detection algorithm was proposed. To test the interference between DLOs ＇segments, a method based on the shortest distance of the axis line segment was proposed, which could avoid directly detecting the collision between primitives and improving the efficiency. As to the collision management, velocity and position revision were directly integrated into the integration process, which speeded up the whole calculation. The experiment result shows that the algorithm can meet the demands of real-time and precision and it can be applied to the physical simulation of DLOs.

关 键 词：可变形线性体 离散弹性杆模型 碰撞检测 预条件共轭梯度法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]