基于PCS的多刚体碰撞过程仿真算法

在虚拟环境下，为了快速精确地实现多个刚体的碰撞效果，不能单纯地采取两两相互作用的顺序检测机制。文章利用离散法进行碰撞检测，首先，计算出在帧间隔时间内的潜在碰撞集（PCS），然后，利用关系矩阵实现PCS的求解，并对碰撞时刻进行递归求解，实现多刚体的碰撞处理；最后，对多个球体构成的理想化碰撞系统进行了仿真实验，验证了本文提出的算法。

Emulation Arithmetic of the Rigid Multi-Objects Collision Based on PCS

We can not simplicity adopt the mechanism of two-objects’ mutual effect in the virtual environment for the sake of achieving the Multi-Object’s collision effect fleetly and accurately.This title adopts discrete method in collision detection.First,computes the potentially colliding set(PCS) of intervals.Then,uses relation-matrix to realize the resolution of PCS,and makes recursion solution for every collision time,to realize the rigid multi-object’s collision disposal.In the end,we make an emulation experiment in allusion to a system involve of a series of perfect spheres.It validates the arithmetic mentioned by this title.