Abstract: To achieve fast and accurate collision detection among objects, a new collision detection algorithm based on hybrid hierarchical bounding box is presented. The algorithm builds hybrid hierarchical bounding box by simple calculation of Sphere and good tightness of K-DOPs bounding box, using Sphere bounding box in the upper layer to get rid of nonintersecting objects and using K-DOPs bounding box in the bottom layer to achieve a more precise intersection test. Therefore, it improves the real-time collision detcetion. The experimental results show that the proposed algorithm is effective and feasible, and the real-time and robustness performance is better than traditional collision detection algorithms.

Key words: hybrid hierarchical bounding box, collision detection, Sphere, K-DOPs

摘要： 为了实现物体间快速精确的碰撞检测，提出了一种新的基于混合层次包围盒的碰撞检测算法，充分利用了包围球计算简单和K-DOPs包围盒紧密性好的优点，来构建物体的混合层次包围盒结构。在包围盒树的上层采用Sphere包围盒，能快速排除不相交的物体，下层采用K-DOPs包围盒，进行更加精确的相交测试，提高了碰撞检测实时性。实验结果表明，该算法是有效可行的，具有较强的实时性及鲁棒性，性能优于传统碰撞检测算法。

关键词: 混合层次包围盒, 碰撞检测, 包围球, 离散方向多面体包围盒