The Research On Collision Detection Algorithm Based On Oriented Bounding Box

Collision detection has been researched in many fields such as robot motion planning and computer graphics for a long time. In recent years, with the rising of virtual reality and distributed interactive simulation, many researches focus on collision detection. Efficient and Exact collision detection is very important to improve reality and enhance immersion for virtual environment. The complexity and real-time of virtual environment bring new requirement to collision detection.Bounding volume hierarchy provides an effective method in collision detection. The most commonly used bounding volume types are Sphere,AABB,OBB,K-Dops. For the collision detection of rigid bodies, the collision detection based on OBB beats best, which was once considered as the evaluation criterion.This thesis focuses on the rigid bodies of large-scale complex environment as the research target and emphasizes on the relevant problems of OBB collision detection algorithm. Research work has been done as follows:(1) Based on the full research of inherent characters of OBB hierarchical box, this thesis implements a series of key techniques such as building OBB and OBB tree, overlapping test between OBB boxes,overlapping test between triangles and optimizes the shortcomings and disadvantages of OBB.(2) Contraposed the shortcomings and disadvantages of OBB------it is fit to deal with the collision detection between two objects. This thesis disposes a high level scanning and clipping structure which bases Sphere bounding box, the algorithm has two levels collision detection ------The first collision detection level is based on Sphere bounding box which fleetly deals with the two objects which are far from each other. This thesis also uses the Frame-to-Frame Coherence to accelerate the detection. The second collision detection level is OBB bounding box which is used to deal with the collision pairs which are passed downed by Sphere. OBB hierarchical box is used to do the precise collision detection. In the simulation experiment, this thesis uses the results of collision detection to do the collision report and corresponding of the collision response.Scientific results and concrete implementation demonstrate that the optimized OBB algorithm can solve the collision detection problems between rigid bodies in a large-scale complex environment. The research achievements of this thesis have certain theoretical value and practical significance to the collision detection in a large-scale complex environment.