基于球面调和函数与距离场的柔性体碰撞检测方法

 针对虚拟现实中柔性体碰撞检测实现的复杂性，提出一种基于球面调和函数（SH）的柔性体距离场碰撞检测方法。该方法利用SH的多尺度特性实现柔性体距离场的快速建立，依据距离场碰撞检测方法实现交互工具与虚拟柔性体的快速碰撞检测，并沿着距离的梯度方向进行柔性碰撞响应的快速估计。结果表明，相对于传统的距离场碰撞检测算法，该方法可大大节省内存占用量并有效实现交互工具与柔性体的碰撞检测，碰撞检测时间在毫秒级范围内，满足柔性体碰撞检测的实时性要求。

A Method of Soft Object Collision Detection Based on Spherical and Distance Fields

This paper presents a novel method of real-time collision detection in virtual environments based on spherical harmonics and distance fields. Fundamentals of spherical harmonics modeling virtual object are initially proposed for representing complex objects with different degrees of spherical harmonics in the spherical coordinate system. Distances between virtual objects and space mesh are then projected onto the spherical surface to generate a distance map. Approximate collision detection is performed at the low scale, while accurate detection is performed at the high scale. Experimental results show that computational complexities and memory requirements are reduced significantly compared with those encountered in, for example, SQ-map method and the adaptive distance field, due to the fact that in this case the bounding sphere and the virtual object represented by spherical harmonics are in the same spherical reference system.