机器鱼2D 仿真平台碰撞检测算法

为了实现机器鱼2D仿真平台各个对象间完整的碰撞检测，提出一种基于离散碰撞检测的算法。该算法以机器鱼2D仿真平台为基础，结合包围盒树，运用计算机图形学对平台中各个仿真对象进行精确建模；并利用图形学中的分离轴理论、Voronoi Region等概念，提出了适合各对象的不同碰撞检测算法，快速准确地输出检测结果。同时采用运动插值技术，减小步长并键入中间运动模态，实现了模拟连续碰撞检测，进一步提高了碰撞检测准确度。实验结果证明：该方法实现了模拟连续碰撞检测，具有高效、精准的特点。

Collision Detection on Robot Fish 2D Simulation Platform

In order to achieve the all objects collision detection of robot fish 2D simulation platform completed,we propose a collision detection algorithm based on discrete.The algorithm taking 2D simulation platform as base,combined with bounding box tree,use computer graphics put up accurately models to every simulation object;and put forwards different collision detection algorithms adapt to objects use separation axis theory,Voronoi Region concepts in graphics,the output test results quickly and accurately.At the same time using motion interpolation,reducing the step size and type intermediate movement mode to achieve simulation continuous collision detection,further improved collision detection accuracy.Experimental results show that the method can achieved simulating continuous collision detection,has high efficiency,precise features.