精确碰撞检测具有重要的理论意义和现实意义,使用新颖的方式将非线性规划方法用于求解椭球曲面间的精确碰撞问题.该方法采用参数化椭球面,在矩阵变换下获得椭球面上任意点在任意时刻的坐标.建立几何约束方程,以时间最小化为优化目标,通过非线性规划方法寻求使得时间最小的椭球面参数坐标,从而得到碰撞点位置以及碰撞发生时间.应用结果表明,在局部时间窗口内,该方法用于临近椭球面间的碰撞计算,相对于其他算法在精度上有较大提高.%Accurate collision detection is very important for theory analysis and application. Nonlinear program is employed to handle the accurate collision between ellipsoids novelly. With ellipsoidal surface parameterized, the position ora point on a ellipsoid can be determined under matrix transformation at arbitrary moment. When the collision happens between ellipsoids a geometrical constraint equation is established. Then the collision detection can be resolved by calculating the minization of time consumed during the collision process. This task can be achieved through nonlinear program. As a result, the parameteric coordinations related to the time optimized are obtained too. A simple application of this method is conducted. The result shows that accurate resolution of collision detection between nearby ellipsoids can be acquired within a relative narrow interval and this method gains great improvement of accuracy over others.
展开▼
