为获得虚拟场景中车辆真实物理运动和交互性，提出一种基于开放式动力学引擎（ODE）的虚拟仿真平台集成方案。构建具有四自由度的汽车刚体动力学简化模型，分析其ODE特性及刚体连接机理，对车身和车轮之间的悬架系统进行分析，采用ODE中Hinge2进行模拟，分析其刚体动力学方程；基于Quest3D和VS2005进行刚体碰撞检测算法研究，构建一个能实现车辆刚体运动和碰撞检测的虚拟仿真平台，实时对车辆刚体动力学相关参数进行输出。经验证，该虚拟仿真系统具有良好的沉浸感、交互性和实用性。%In order to obtain real physical motion of vehicle and interaction in the virtual scene, the virtual simulation plat⁃form integration scheme based on open dynamics engine was proposed. Building simple vehicle dynamics model with four degrees of freedom, analyzing its ODE characteristics and rigid connection mechanism, analyzing the suspension system between the body and the wheel, using ODE Hinge-2 to simulate, the dynamic equation of rigid body was analyzed. Rigid body collision detection algorithm was researched based on Quest3D and VS2005, a virtual simulation platform for finish⁃ing vehicle motion and collision detection was built, it could output real-time vehicle dynamic parameters. The test shows that the virtual simulation system has a high degree of immersion, interaction and practicality.
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