Contact geometry calculation device and contact geometry calculation method, and computer program

摘要

PROBLEM TO BE SOLVED: To calculate a contact polygon group to be formed between objects each having an arbitrary shape including a concave shape.;SOLUTION: A concave shaped polyhedron which does not have a convex shape is convexedly divided into a plurality of convex fragments, and is treated as a convex fragment complex. A convex hull collision representative point pair composed of the nearest point or the most penetrated point between convex hulls of each object is calculated, and a virtual contact plane for making a straight line direction connecting the convex hull collision representative point pair passing through a mid point of the convex hull collision representative point pair as a normal line vector is decided. A half contact polygon which gives a shape to be contacted with the virtual contact plane in every convex fragment is each acquired, and an accumulated area superimposing the half contact polygon is acquired in every combination of the convex fragments, then contact polygon between objects is decided by integrating each accumulated area.;COPYRIGHT: (C)2008,JPO&INPIT