基于OSG和Bullet的船舶碰撞响应三维仿真

摘要

针对目前在航海模拟器中缺少对船舶碰撞响应的三维仿真，提出在航海模拟器中基于开源场景图形（OpenSceneGraph，OSG）渲染引擎开发的三维视景中加入Bullet物理引擎的技术方案。根据刚体动力学、接触与碰撞动力学和能量守恒定律，基于Bullet刚体碰撞响应模型，建立船舶三维碰撞动力学模型；运用Projected Gauss-Seidel迭代算法，得到碰撞后船舶实时的六自由度位置姿态参数；根据碰撞检测阶段获取的碰撞点位置参数，实时绘制划痕并添加爆炸特效。该方案已成功应用于航海模拟器视景系统中，渲染效果良好。%Considering no three-dimensional (3 D )simulation on collision response of ships in naviga-tional simulator nowadays,a proposal of adding the technology of Bullet (a physical engine)to the 3D scene which is developed based on an OpenSceneGraph (OSG)rendering engine in navigational simula-tor is put forward. According to the rigid body dynamics,contact and collision dynamics and law of con-servation of energy,the 3D collision dynamics model of ships is built based on the rigid body collision re-sponse model in Bullet. Then the Projected Gauss-Seidel iterative algorithm is used to calculate the 6-DOF location and posture parameters of ships after collision. According to the location parameters of colli-sion points obtained in the period of collision detection,the scratch is drawn in real time,and the explo-sion effect is added. This proposal is applied to the vision system of navigational simulator successfully, and is of good rendering effect.