{"id":1330,"date":"2023-03-27T23:07:46","date_gmt":"2023-03-27T15:07:46","guid":{"rendered":"https:\/\/www.mustenaka.cn\/?p=1330"},"modified":"2023-03-28T00:42:53","modified_gmt":"2023-03-27T16:42:53","slug":"minkowski-differential-convex-collision","status":"publish","type":"post","link":"https:\/\/www.mustenaka.cn\/index.php\/2023\/03\/27\/minkowski-differential-convex-collision\/","title":{"rendered":"\u95f5\u53ef\u592b\u65af\u57fa\u5dee\u6c42\u51f8\u9762\u4f53\u78b0\u649e"},"content":{"rendered":"<h1>\u524d<\/h1>\n<p><span>GJK\uff08Gilbert\u2013Johnson\u2013Keerthi distance algorithm\uff09\u7b97\u6cd5\u88ab\u6e38\u620f\u5f15\u64ce\u4e2d\u5e38\u5e38\u7528\u4e8e\u6c42\u51f8\u9762\u7269\u4f53\u7684\u78b0\u649e\u68c0\u6d4b\uff0cGJK\u7b97\u6cd5\u7684\u6838\u5fc3\u662f\u5229\u7528\u4e86\u95f5\u53ef\u592b\u65af\u57fa\u5dee\uff08Minkowski difference \uff09\u7684\u7279\u6027\uff0c\u5373\uff1a<\/span><\/p>\n<blockquote><p><span>1.\u5982\u679c\u4e24\u4e2a\u51f8\u5305\u76f8\u4ea4\uff0c\u90a3\u4e48\u4ed6\u4eec\u7684\u95f5\u53ef\u592b\u65af\u57fa\u5dee\u5fc5\u7136\u5305\u542b\u5750\u6807\u539f\u70b9\uff1b<\/span><\/p>\n<p><span>2.\u5982\u679c\u4e24\u4e2a\u51f8\u5305\u7684\u95f5\u53ef\u592b\u65af\u57fa\u5dee\u4e0d\u5305\u542b\u5750\u6807\u539f\u70b9\uff0c\u90a3\u4e48\u8fd9\u4e2a\u5dee\u503c\u5230\u539f\u70b9\u7684\u6700\u8fd1\u8ddd\u79bb\u5c31\u4ee3\u8868\u4e86\u8fd9\u4e24\u4e2a\u51f8\u5305\u7684\u6700\u8fd1\u8ddd\u79bb\u3002<\/span><\/p><\/blockquote>\n<p>\u6ce8\u610f\uff1a\u672c\u6587\u4e0d\u5305\u542bGJK\u7b97\u6cd5\u7684\u8be6\u7ec6\u89e3\u91ca\uff0c\u800c\u662f\u4f5c\u4e3aGJK\u7b97\u6cd5\u7684\u9884\u5148\u94fa\u57ab\uff0c\u53ea\u662f\u4f5c\u4e3a\u4ecb\u7ecd\u95f5\u53ef\u592b\u65af\u57fa\u5dee\u5982\u4f55\u8fdb\u884c\u5224\u65ad\u51f8\u9762\u4f53\u78b0\u649e\u7684\u3002<\/p>\n<h1>\u95f5\u53ef\u592b\u65af\u57fa\u5dee\u3001\u95f5\u53ef\u592b\u65af\u57fa\u548c\uff1a<\/h1>\n<p>\u5728\u51e0\u4f55\u5b66\u4e2d\uff0c\u6b27\u6c0f\u7a7a\u95f4\u4e2d\u4e24\u7ec4\u4f4d\u7f6e\u5411\u91cfA\u548cB\u7684\u95f5\u53ef\u592b\u65af\u57fa\u548c\u662f\u901a\u8fc7\u5c06A\u4e2d\u7684\u6bcf\u4e2a\u5411\u91cf\u4e0eB\u4e2d\u7684\u6bcf\u4e2a\u5411\u91cf\u76f8\u52a0\u800c\u5f62\u6210\u7684\u3002<\/p>\n<h3>\u95f5\u53ef\u592b\u65af\u57fa\u5dee\uff1a<\/h3>\n<p><img decoding=\"async\" src=\"https:\/\/wikimedia.org\/api\/rest_v1\/media\/math\/render\/svg\/d73af1ff3fbbb96297a20d63807dc49292ea4b17\" class=\"mwe-math-fallback-image-inline\" aria-hidden=\"true\" alt=\"{\\displaystyle AB=\\{\\mathbf {a} -\\mathbf {b} \\,|\\,\\mathbf {a} \\in A,\\ \\mathbf {b} \\in B\\}=A+(-B)}\" \/><\/p>\n<p>\u5176\u4e3b\u8981\u5e94\u7528\u5982\u4e0b\uff1a<\/p>\n<ol>\n<li>\u78b0\u649e\u68c0\u6d4b<\/li>\n<li>\u8fd0\u52a8\u89c4\u5212<\/li>\n<li>\u805a\u5408\u7406\u8bba<\/li>\n<\/ol>\n<h3>\u95f5\u53ef\u592b\u65af\u57fa\u548c\uff1a<\/h3>\n<p><img decoding=\"async\" src=\"https:\/\/wikimedia.org\/api\/rest_v1\/media\/math\/render\/svg\/edf522c2077fad3ca9e1f4600a766f3041d5fbe7\" class=\"mwe-math-fallback-image-inline\" aria-hidden=\"true\" alt=\"A + B = \\{\\mathbf{a}+\\mathbf{b}\\,|\\,\\mathbf{a}\\in A,\\ \\mathbf{b}\\in B\\}\" \/><\/p>\n<p>\u5176\u4e3b\u8981\u5e94\u7528\u5982\u4e0b\uff1a<\/p>\n<ol>\n<li>\u8bc1\u660e\u5e38\u5bbd\u56fe\u5f62\u5468\u957f\u7684Barbier\u5b9a\u7406<\/li>\n<li>\u8bc1\u660e\u5173\u4e8e\u683c\u70b9\u56fe\u5f62\u7684\u95f5\u53ef\u592b\u65af\u57fa\u5b9a\u7406<\/li>\n<li>\u6570\u5b66\u5f62\u6001\u5b66<\/li>\n<\/ol>\n<h1>\u4e00\u7ef4\u7406\u89e3<\/h1>\n<p>&nbsp;<\/p>\n<p data-pid=\"7pBXpz7-\">\n","protected":false},"excerpt":{"rendered":"<p>\u524d GJK\uff08Gilbert\u2013Johnson\u2013Keerthi distance algorithm\uff09\u7b97 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[5,44,118],"tags":[48,116,6],"class_list":["post-1330","post","type-post","status-publish","format-standard","hentry","category-algorithm","category-csharp","category-unity3d","tag-csharp","tag-unity3d","tag-algorithm"],"views":1572,"_links":{"self":[{"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/posts\/1330","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/comments?post=1330"}],"version-history":[{"count":5,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/posts\/1330\/revisions"}],"predecessor-version":[{"id":1336,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/posts\/1330\/revisions\/1336"}],"wp:attachment":[{"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/media?parent=1330"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/categories?post=1330"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/tags?post=1330"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}