A New Fast and Robust Collision Detection and Force Computation Algorithm Applied to the Physics Engine Bullet: Method, Integration, and Evaluation
A New Fast and Robust Collision Detection and Force Computation Algorithm Applied to the Physics Engine Bullet: Method, Integration, and Evaluation
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一种应用于物理引擎子弹的新型快速鲁棒碰撞检测和力计算算法：方法、集成和评估
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
J. L. E. Silva
中科院分区：
文献类型：
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作者：
M. Sagardia;Theodoros Stouraitis;J. L. E. Silva
提出了一种基于Voxelmap-PointShell算法的碰撞检测和力计算算法，并在物理引擎Bullet中进行了集成和评估。该算法使用带符号的距离场和点球树，能够在小于1毫秒的模拟频率下计算任意复杂形状之间的碰撞力。利用Here层次结构，我们能够快速检测可能的碰撞区域，而点树可以用于以细节级别的方式处理碰撞区域。与物理引擎Bullet的集成是通过继承该框架中提供的接口类来执行的。我们将我们的算法与Bullet的原生GJK、凸分解的GJK和GImpact进行了比较，改变了分辨率和场景。我们的实验表明，如果选择低分辨率，我们的综合算法的计算时间与Bullet中的标准碰撞检测算法相似。在高分辨率的情况下，我们的算法比Bullet的原生实现性能更好，对象的行为也更真实。
We present a collision detection and force computation algorithm based on the Voxelmap-Pointshell Algorithm which was integrated and evaluated in the physics engine Bullet. Our algorithm uses signed distance fields and point-sphere trees and it is able to compute collision forces between arbitrary complex shapes at simulation frequencies smaller than 1 msec. Utilizing phere hierarchies, we are able to rapidly detect likely colliding areas, while the point trees can be used for processing colliding egions in a level-of-detail manner. The integration into the physics engine Bullet was performed inheriting interface classes provided in that framework. We compared our algorithm with Bullet’s native GJK, GJK with convex decomposition, and GImpact, varying the resolution and the scenarios. Our experiments show that our integrated algorithm performs with similar computation times as the standard collision detection algorithms in Bullet if low resolutions are chosen. With high resolutions, our algorithm outperforms Bullet’s native implementations and objects behave realistically.
六自由度实时碰撞响应算法的基准测试套件
DOI：
10.1145/1889863.1889874
发表时间：
2010
期刊：
影响因子：
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作者：
René Weller;David Mainzer;Mikel Sagardia;Thomas Hulin;Gabriel Zachmann;Carsten Preusche
通讯作者：
Carsten Preusche