基于距离场和扫掠剪除算法的线缆碰撞检测技术

针对线缆具有柔性可变形特性而引起线缆碰撞检测难的问题，提出了基于距离场和扫掠剪除算法的线缆碰撞检测方法。基于距离场的碰撞检测方法主要用于检测线缆与线缆、线缆与结构件之间的碰撞：首先通过建立线缆体廓包围球，完成线缆多细节层次球面调和的表达；然后生成三维距离场映射，获取线缆或结构件表面法向量和穿刺深度等碰撞反馈信息。基于扫掠剪除算法的碰撞检测方法主要用于检测线缆的自碰撞：先构建线缆分段数学模型，然后通过线缆离散点扫掠剪除完成线缆自碰撞检测。最后对算法进行了验证，算法具有较好的准确性和快速性，可以满足工程实际的要求。

Collision detection technology of cable harness based on distance fields and sweep-and-prune algorithm

For the problem of collision detection difficulty caused by the cable harness with flexible and deformable characteristics, a collision detection method of cable harness based on distance fields and sweep-and-prune（SaP） algorithm is proposed. The collision detection method based on distance fields is mainly used for detect the collisions among cable harnesses as well as cable harnesses and structural parts. In this phase, the spherical harmonics expression of cable harness with Level Of Detail（LOD） is finished firstly based on the establishment of contour bounding sphere for cable harness; then, to acquire the collision feedback information from the surface normal vector and puncture depth of cable harness or structural parts, a distance fields mapping with three dimensions（3D） is generated. The collision detection method based on SaP algorithm is mainly used for detect the cable harness self-collision. In this phase, a mathematical model of cable harness segments is constructed firstly; and then the discrete points SaP algorithm is used to complete the cable harness self-collision. Finally, the algorithm presented in this paper is validated, and the results show that the algorithm has better accuracy and quickness to meet the requirements of engineering practice.