排爆机器人训练仿真系统中的碰撞检测技术

精确的碰撞检测对提高虚拟现实系统的沉浸性、真实感至关重要。但是Vega只对碰撞检测提供了有限的支持,为提高碰撞检测的实时性和精确度,提出了分块设置掩码、动态加载相交矢量、在运动物体易发生碰撞的部位放置相交矢量以及物体高速运动时引进距离因子等方法。有效的解决了排爆机器人训练仿真系统中遇到的各种碰撞检测问题。

Collision Detection for Simulation Training System of Explosive Ordnance Disposal

Efficient and exact collision detection is very important to improve reality and enhance immersion for virtual reality system,but limited collision detection methods are provided by Vega.In order to improve real-time and precision of collision detection,some new methods were developed such as setting mask partly,loading isectors dynamically,setting isectors in some special parts where collision occurs frequently and introducing distance gene.The collision detection problems in Explosive Ordnance Disposal simulation training system were solved using these methods,and results demonstrate methods' effectiveness.