Collision detection in Vega Prime is based on the simple line segment, and collision detection based on bounding box is not realized. By studying the composition of three-dimensional object based on Oriented Bounding Box (OBB), we define a collision detection class, which inherits from vpIsector. After finding out all vertices of geometry in object, we connect these vertices one by one and constitute a tend line. The trend line constitutes our bounding box based on OBB. Now, our collision detection is based on three-dimensional objects, but not the simple line segment. At the same time, we can control the efficiency of collision detection by increasing or decreasing the number of collision lines on the actual demand. Additionally, on this basis, we have made the further application. By adjusting parameter, we can get a bounding box with early warning mechanism or collision tolerance.
Detection method of space-time conflict for multi route planning