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.
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。
A lot of low altitude objects and the characteristics of point target make the detection and tracking even harder.
大量的低空背景景物以及点目标的特点——远距离、低信噪比、强杂波等，增加了目标检测和跟踪的难度。
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