Collision detection with improved algorithm based on k-dop

Abstract

In this thesis, a new k-dop-based algorithm is presented to detect collisions between two flying objects in virtual environment (VE). The core of our algorithm is that, we build environment bounding volume tree (BVT) for each leaf nodes of flying BVT. When checking for overlaps between two leaf nodes N <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">A</sub> and N <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">B</sub> of two flying BVTs, we perform the overlap test between N <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">B</sub> and the environment BVT of N <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">A</sub> with the popular k-dop-based but updated algorithm at first. With the test, a set T of triangles intersecting with the bounding volume of N <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">A</sub> is setup quickly, these triangles are all from N <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">B</sub> . Then check the overlap pairs between triangles in N <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">A</sub> and triangles in set T with triangle-triangle overlap test. Comparing with the method directly using triangle-triangle overlap test for two flying leaf nodes, our algorithm can fast exclude the non-overlap triangles. With the new algorithm, fast and exact collision detection in VE consisting of multi flying objects has also been implemented.