介绍了一种针对用三角形网面表示的不规则物体的碰撞检测中接触点，接触法线和刺穿深度的计算方法。
This paper introduces a method for calculating the contact point, contact normal and penetration depth in collision detection of irregular objects expressed by triangle mesh.
为了改善在大数据量时体素化效率不高的缺点，针对三角形不规则网(TIN)模型的三角网特性，提出了一种快速简单的体素化算法。
IN order to improve the voxelization efficiency of large data, a fast and simple voxelization algorithm was proposed for the Triangulated Irregular Network (TIN) model.
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