一种快速精确的连续碰撞检测算法

为了实现运动刚体间快速精确的碰撞检测，提出了一种新的连续碰撞检测算法。利用图形硬件的计算能力，该算法在每个时间区间上实时处理，把单个时间区间划分成若干个子时间区间，使用静态和连续的定向包围盒（OBB）相交性检测方法，计算出在子时间区间内的潜在碰撞集(PCS)，并结合基于图形硬件的可靠碰撞剔除方法、三角面片之间的碰撞检测方法和回退方法，计算出刚体间的初始碰撞时刻和碰撞位置.并应用于一个三维建模系统中的装配模块.实验结果表明，与传统的碰撞检测方法相比，该算法可以缩短计算时间，具有更好的性能和精度.

Fast and accurate continuous collision detection between rigid bodies

To detect the collision between moving rigid bodies accurately and rapidly,a novel continuous collision detection algorithm was presented.By fully exploiting the computation ability of graphics hardware,the algorithm performed well at each time interval in real-time with the time interval being divided into several sub-intervals.By using static and continuous overlap detection method for oriented bounding boxes(OBB),a potentially colliding set(PCS) of sub-intervals was computed.The initial collision times and positions among the rigid bodies were calculated by using reliable collisions culling method based on graphics hardware,collision detection method among triangle facets and backtracking method. The algorithm was used in an assembly module of a 3D modeling system.The experimental results show that compared with conventional collision detection algorithms,the proposed algorithm can reduce calculation time and has better performance and accuracy.