复杂场景中基于拓扑空间网格的碰撞检测算法

为了提高复杂场景的碰撞检测效率，提出一种基于拓扑空间网格的碰撞检测算法. 由于场景中存在众多形状复杂、尺寸不一且运动状态不同的物体，首先采取场景预处理对空间进行均匀八叉树网格划分，建立物体方向包围盒层次树与空间网格拓扑结构，利用静态大尺寸物体分割策略提升定位精确性，然后在实时检测中利用拓扑空间网格及投影相交测试排除大量不相交物体对，利用层次包围盒算法对潜在碰撞对进行精确检测并计算出碰撞点. 实验结果表明，本算法有效地提高了实时检测的效率，适用于复杂虚拟场景中的碰撞检测.

Collision Detection Algorithm in Complex Scenes Based on the Topological Spatial Grid

To improve the efficiency of collision detection in complex scenes, a collision detection algorithm based on topological spatial grid is proposed in this paper. Because there are numerous objects with complex shapes, different scales and motion states in the scene, the algorithm firstly partitions the scene with uniform octree, builds oriented bounding box hierarchal tree, sets up the topology of spatial grids and conducts static large-scale object decomposition for accurate positioning in preprocess stage. Then, the algorithm excludes plenty of non-intersect objects with topological spatial grid and projection intersection test, by using bounding volume hierarchy to conduct accurate detection of potential collision pairs and calculates collision points in real-time detection process. Experimental results show that this algorithm improves the real-time detection efficiency, which is suitable for collision detection in complex virtual scenes.