基于层次包围盒和光线追踪的两步法碰撞检测技术

为了实现虚拟现实场景中物体间的实时碰撞检测，结合层次包围盒和光线追踪算法的优点，提出了一种新的两步法碰撞检测技术.利用层次包围盒法进行预处理优化，快速排除不相交的包围盒，将预处理结果直接传递给后续精确检测模型.采用光线追踪法在一维空间迅速搜索到具体碰撞点对，并返回点对间的距离和表面法向量等碰撞响应所需的量.预处理阶段和精确碰撞检测过程中的输入都存储在相同的数据结构，即八叉树中，减少了冗余的计算量.仿真实验表明，两步法碰撞检测技术对点对间的碰撞检测具有较好的准确性和高效性.

Two stage collision detection technique based on bounding volume hierarchy and ray tracing algorithm

To detect the collision between objects in virtual scene in real time, a new two stage collision detection technique was proposed through combining the advantages of bounding volume hierarchy and ray tracing algorithm. Non intersecting bounding volumes were quickly pruned out with bounding volume hierarchy method in pre processing stage, and the pre processed results were transferred to subsequent precision detection model. The ray tracing method was used to search quickly the collision points in one dimension space and also return such parameters necessary for collision response as the points distance and surface normal vector. In order to avoid the redundant computation, the input data in both pre processing stage and accurate collision detection stage were stored in the same data structure, i.e. octree. The simulation experiments demonstrate that new two stage technique possesses the better accuracy and efficiency in points collision detection.