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。
The application of this algorithm in virtual turning environment demonstrates that this method can realize the collision detection in simulation more accurately than traditional bounding box method.
该算法在虚拟车削环境中的应用实例可以说明，该算法与传统的包围盒法相比，可更为准确地实现仿真中的碰撞检测。
I described and analyzed the flow chart of the collision detection algorithm of hierarchical bounding volume and intersection testing method of the basic geometrical elements.
分析了层次包围盒碰撞检测算法的实现流程和基本几何元素间的相交测试计算。
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