ジオメトリックシミュレーションにおける衝突検出アルゴリズム

概要

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This paper describes a general method of detecting collisions among 3-D objects in the simulation world. It has been well recognized that geometric simulation using 3-D geometric models plays an important role in the preparatory phases of manufacturing. Collision detection is one of the important technologies, and several methods have been proposed based on the ideas, such as multiple static checking, swept volumes and intersection calculation. Since the computational cost for solving this problem is large in general, some consideration has been given to the shape complexity in the conventional methods. However, in addition to the shape complexity, the complexity of the trajectory also influences the computational cost. In this paper, therefore, we propose a new algorithm considering the trajectories of the moving objects. We have introduced the conditions which can indicate whether any collisions may occur or not at a tracjectory. If any collisions may occur, the trajectory is divided into two parts and both of them are checked in the same way. This process is recursively continued until a collision is detected or the whole trajectory is checked to have no collision. The average computational cost of this algorithm is estimated to be less than that of the conventional methods.
公益社団法人精密工学会の論文
1988-08-05