Collision detection of bounding spheres with terrain
This paper considers the task of intersection detection of bounding spheres with a terrain specified in the form of a polygonal mesh. To solve this task, an approach based on the construction of a regular rectangular height grid is proposed. With this approach, an intersection verification is performed between the approximating sphere and the height grid cells, which, depending on the type of relief, are rectangles or quadrangles. The collision detection algorithms proposed in the article are based on calculating the projection of the sphere center onto the cell of the height grid and sorting the contact points by penetration depth. The approbation of these algorithms was carried out in the virtual environments complex using the example of interaction simulation for spheres with a different type of relief.