Method for simulating collisions
First Claim
1. A method of conducting a computerized simulation of a collision between a vehicle and an object, where each of the vehicle and the object include a respective outer surface, the method comprising:
- providing a three dimensional object shell mesh in the form of the outer surface of the object, and a three dimensional vehicle shell mesh in the form of the outer surface of the vehicle, each of the meshes having a respective deformation relationship relating a force required to cause a deformation in a region of the shell mesh;
moving the shell meshes until a collision is detected; and
calculating a series of positions of the shell meshes during the collision, each position being based on a prior calculated position, wherein calculating the series of positions includes;
alternating between (1) the vehicle shell mesh as a master shell mesh and the object shell mesh as a slave shell mesh, and (2) the object shell mesh as a master shell mesh and the vehicle shell mesh as a slave shell mesh;
detecting penetration of a penetrated region of the master shell mesh by a penetrating region of the slave shell mesh;
deforming the penetrating region of the slave shell mesh a deformation distance to lie adjacent the master shell mesh, thereby creating a deformed region of the slave shell mesh;
calculating a deformation collision force acting on the deformed region of the slave shell mesh based on the deformation distance and the deformation relationship for the slave shell mesh;
applying the deformation collision force to the slave shell mesh; and
moving the slave shell mesh to a next position based on the deformation collision force.
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Accused Products
Abstract
A method for conducting a computerized simulation of a collision between at least two objects. The method includes creating a representation of each of the objects. Each representation is typically is a mesh of nodes and surface elements. The method also typically includes colliding the representations of the objects such that the representations contact each other, and at least a first representation experiences a respective deformation at each of a plurality of contact points. In addition the method typically includes, for at least a subset of the plurality of contact points, computing a respective local collision force associated with the deformation at such contact points, and calculating a resultant generalized collision force acting at a predetermined point associated with the first representation based on the local collision forces. Typically, the respective local collision force is related to a distance the region of the representation is deformed by a deformation relationship. The method may also include, for at least a subset of the plurality of contact points, calculating a deformation parameter that the first object experienced at the contact point, and restituting a region of the first object adjacent such contact point a restitution distance associated with the deformation parameter. Typically the deformation parameter is cumulative local deformation force, and the deformation parameter is related to the restitution distance by a restitution relationship.
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Citations
37 Claims
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1. A method of conducting a computerized simulation of a collision between a vehicle and an object, where each of the vehicle and the object include a respective outer surface, the method comprising:
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providing a three dimensional object shell mesh in the form of the outer surface of the object, and a three dimensional vehicle shell mesh in the form of the outer surface of the vehicle, each of the meshes having a respective deformation relationship relating a force required to cause a deformation in a region of the shell mesh;
moving the shell meshes until a collision is detected; and
calculating a series of positions of the shell meshes during the collision, each position being based on a prior calculated position, wherein calculating the series of positions includes;
alternating between (1) the vehicle shell mesh as a master shell mesh and the object shell mesh as a slave shell mesh, and (2) the object shell mesh as a master shell mesh and the vehicle shell mesh as a slave shell mesh;
detecting penetration of a penetrated region of the master shell mesh by a penetrating region of the slave shell mesh;
deforming the penetrating region of the slave shell mesh a deformation distance to lie adjacent the master shell mesh, thereby creating a deformed region of the slave shell mesh;
calculating a deformation collision force acting on the deformed region of the slave shell mesh based on the deformation distance and the deformation relationship for the slave shell mesh;
applying the deformation collision force to the slave shell mesh; and
moving the slave shell mesh to a next position based on the deformation collision force. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
applying the restitution collision force to the slave shell mesh;
moving the slave shell mesh to a next position based on the restitution collision force.
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14. A method of conducting a computerized simulation of a collision between a first body and a second body, the method comprising:
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providing a first three dimensional mesh in the form of the first body, and a second three dimensional mesh in the form of the second body, each of the meshes being formed of nodes and surface elements, and having a respective deformation relationship relating a fore required to cause a deformation in a region of the mesh;
moving the metes until a collision is detected; and
calculating a series of positions of the meshes during the collision, each position being based on a prior calculated position, wherein calculating the series of positions includes;
alternating between (1) the fist mesh as a master mesh and the second mesh as a slave mesh, and (2) the second mesh as a master mesh and the first mesh as a slave mesh the master mesh having master surface elements and the slave mesh having slave nodes;
for each of a plurality of slave nodes;
(1) detecting penetration of a master surface element by the slave node;
(2) deforming the penetrating slave node a deformation distance to lie adjacent master mesh;
(3) calculating a local deformation collision force acting on the penetrating slave node based on the deformation distance and the deformation relationship for the slave mesh;
summing the local deformation collision forces for the plurality of penetrating slave nodes, thereby calculating a general collision force;
applying the generalized collision force to the slave met;
moving the slave mesh to a next position based on the generalized collision force. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
summing the local restitution collision forces from each of the penetrating slave nodes, to calculate a generalized restitution collision force.
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28. The method of claim 27, further comprising:
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applying the generalized restitution collision force to the slave mesh; and
moving the slave mesh to a next position based on the restitution collision force.
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29. A method for conducting a computerized simulation of a collision between a vehicle and an object, the method comprising:
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defining a vehicle mesh of surface elements and nodes, the vehicle mesh being in the shape of the vehicle;
defining an object mesh of surface elements and nodes, the object mesh being in the shape of the object;
assigning a respective deformation relationship to each of the vehicle and object meshes, each deformation relationship relating a force required to cause a deformation in a region of the associated mesh;
assigning a respective restitution relationship to each of the vehicle and object meshes, each restitution relationship describing the distance a deformed region of the associated mesh will restitute after being deformed;
moving the meshes until a collision is detected; and
calculating a series of positions of the meshes during the collision, each position being based on a prior calculated position, wherein calculating the series of positions includes;
over a plurality of timesteps, alternating between (1) the vehicle mesh as a master mesh and the object mesh as a slave mesh, and (2) the object mesh as a master mesh and the vehicle mesh as a slave mesh, the master mesh having master surface elements and the slave mesh having slave nodes;
at each timestep, for each of a plurality slave nodes on the slave mesh;
(1) determining whether the slave node has penetrated a maser surface element and therefore should be deformed, and if so, (a) deforming the slave node a deformation distance to lie adjacent the maser mesh and (b) calculating a local deformation collision force acting on the slave node based on the deformation distance and the deformation relationship of the slave mesh;
(2) determining whether the slave node should be restituted, and if so, restituting the slave node and deter whether a restitution collision has occurred, and if so, calculating a local restitution collision force acting on the slave node;
calculating a generalized collision force based on the local deformation and restitution collision forces acting at each slave node;
applying the generalized collision force to the slave mesh; and
moving the slave mesh to a next position based on the generalized collision force. - View Dependent Claims (30, 31, 32, 33, 34, 35, 36, 37)
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Specification