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RIGID BODY SIMULATION USING VOLUME BASED COLLISION DETECTION

机译：使用基于体积的碰撞检测进行刚体模拟

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摘要

For the rigid body simulation, robust and efficient rigid body dynamic simulation algorithm is developed. The rotation of rigid body is represented using quaternion and volume based collision detection algorithm is developed. The rigid body is subdivided into voxels, and collision detection is carried out with spheres that include voxels. The strategy for determining time step is described. Several examples are shown to demonstrate the efficiency, robustness and applicability to the non-convex objects of the method, and compared with polygon-based method. It is shown that by changing the level of sphere subdivision, it is possible to control the accuracy and computational efficiency.
机译：对于刚体仿真，开发了鲁棒高效的刚体动力学仿真算法。使用四元数表示刚体的旋转，并开发了基于体积的碰撞检测算法。将刚体细分为体素，并使用包含体素的球体进行碰撞检测。描述了确定时间步长的策略。给出了几个例子来说明该方法对非凸对象的效率，鲁棒性和适用性，并与基于多边形的方法进行了比较。结果表明，通过改变球面细分的级别，可以控制精度和计算效率。

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