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Apparatus for detecting the collision of moving objects

  • US 5,056,031 A
  • Filed: 11/09/1989
  • Issued: 10/08/1991
  • Est. Priority Date: 11/12/1988
  • Status: Expired due to Fees
First Claim
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1. An apparatus for detecting the collision of objects including at least one moving object, comprising:

  • face information storing means for storing face information describing the surfaces of each of said objects;

    hierarchical sphere model generating means for modeling the surfaces of each of said objects by hierarchically arranging spheres having a plurality of radii uniformly over all of the surfaces of each object on the basis of said face information;

    sphere model storing means for storing the positions of said modeled spheres generated;

    sphere position updating means for updating the position of each of said modeled spheres having said plurality of radii with respect to said moving object in correspondence with the movement of said moving object and outputting said updated position to said sphere model storing means; and

    sphere collision computing meansfor executing procedures in which mutually colliding ones of said spheres are detected on the basis of the positions of said modeled spheres concerning two of said objects generated at an arbitrary time and stored in said sphere model storing means, and colliding spheres among spheres belonging to said mutually colliding spheres and having a smaller radius are further detected with respect to only said spheres determined to collide with each other, said procedures being executed hierarchically and consecutively starting with spheres having a large radius toward spheres having a smaller radius, andfor determining the collision of said two objects with each other when finally mutually colliding spheres having the smallest radius are present.

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