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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., authors=FANG Yanhong1 , WU Bin1 , YANG Zhengyi2 , authorsList=FANG Yanhong;WU Bin;YANG Zhengyi, authorCompany=1. Special Environment Robot Technology Key Laboratory of Sichuan Province, Faculty of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, Sichuang Province, China;2. Centre for Advanced Imaging, University of Queensland, St Lucia, Brisbane, Queensland 4072, Australia, correspAuthors=null, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=da1h9Y1CEQDh02xs4RQTNQ==, pdfFileSize=1064088, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1242131206779773251, articleId=1242131204082835757, tenantId=1146029695717560320, journalId=1146031591421210625, language=CN, title=基于球面调和函数与距离场的柔性体碰撞检测方法, columnId=1146540929516700224, journalTitle=科技导报, columnName=研究论文, runingTitle=null, highlight=null, articleAbstract=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。, authors=方艳红1 , 吴斌1 , 杨正宜2 , authorsList=方艳红;吴斌;杨正宜, authorCompany=1. 西南科技大学信息工程学院特殊环境机器人技术四川省重点实验室, 四川绵阳 621010;2. 澳大利亚昆士兰大学先进成像中心, 澳大利亚布里斯班 4072, correspAuthors=null, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=H4rVQBY9LSj1qNzVqL5kdQ==, pdfFileSize=1064088, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null)}, authors=null, keywords=[Keyword(id=1242131206238708025, tenantId=1146029695717560320, journalId=1146031591421210625, articleId=1242131204082835757, 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科技导报
|研究论文
2013
, 31
(34) :
24
-28
基于球面调和函数与距离场的柔性体碰撞检测方法
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方艳红1 , 吴斌1 , 杨正宜2
作者信息
1. 西南科技大学信息工程学院特殊环境机器人技术四川省重点实验室, 四川绵阳 621010;2. 澳大利亚昆士兰大学先进成像中心, 澳大利亚布里斯班 4072
A Method of Soft Object Collision Detection Based on Spherical and Distance Fields
FANG Yanhong1 , WU Bin1 , YANG Zhengyi2
Affiliations
1. Special Environment Robot Technology Key Laboratory of Sichuan Province, Faculty of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, Sichuang Province, China;2. Centre for Advanced Imaging, University of Queensland, St Lucia, Brisbane, Queensland 4072, Australia
出版时间: 2013-12-08
doi: 10.3981/j.isnn.1000-7857.2013.34.004
文章导航
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。
力触觉交互
/
碰撞检测
/
球面调和函数
/
距离场
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.
haptic interaction
/
collision detection
/
spherical harmonics
/
distance field
方艳红;吴斌;杨正宜.
基于球面调和函数与距离场的柔性体碰撞检测方法.
科技导报,
2013
, 31
(34)
: 24
-28
.
DOI: 10.3981/j.isnn.1000-7857.2013.34.004
FANG Yanhong;WU Bin;YANG Zhengyi.
A Method of Soft Object Collision Detection Based on Spherical and Distance Fields[J].
Science & Technology Review ,
2013
, 31
(34)
: 24
-28
.
DOI: 10.3981/j.isnn.1000-7857.2013.34.004
2013年第31卷第34期
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文章信息
doi: 10.3981/j.isnn.1000-7857.2013.34.004
接收时间：2013-07-16
首发时间：2013-12-08
出版时间：2013-12-08
收稿日期：2013-07-16
修回日期：2013-10-25
https://castjournals.cast.org.cn/joweb/kjdb/CN/10.3981/j.isnn.1000-7857.2013.34.004
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2种不同金属材料的力学参数
科 属数 种数 占总种数比例 属 种数 占总种数比例 鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78 小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39 多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39 红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87 小菇属 Mycena 11 5.26 光柄菇属 Pluteus 5 2.39 红菇属 Russula 17 8.13 栓菌属 Trametes 5 2.39
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