引用本文: 赵东波, 熊有伦, 熊蔡华, 卢江舟. 基于机器人层次树结构几何模型的消隐算法[J]. 机器人, 1995, 17(5): 257-262.
ZHAO Dongbo, XIONG Youlun, XIONG Caihua, LU Jiangzhou. HIDDEN REMOVAL ALGORITHM FOR HIERACHICAL TREE STRUCTURE OF GEOMETRY MODEL OF ROBOT[J]. ROBOT, 1995, 17(5): 257-262.
 Citation: ZHAO Dongbo, XIONG Youlun, XIONG Caihua, LU Jiangzhou. HIDDEN REMOVAL ALGORITHM FOR HIERACHICAL TREE STRUCTURE OF GEOMETRY MODEL OF ROBOT[J]. ROBOT, 1995, 17(5): 257-262.

## HIDDEN REMOVAL ALGORITHM FOR HIERACHICAL TREE STRUCTURE OF GEOMETRY MODEL OF ROBOT

• 摘要: 本文讨论了机器人层次树结构几何模型，其高层为机器人树，低层为边杆树，连杆上节点为基本体．根据这-模型，机器人图形显示中隐藏线和面的消隐可在3个层次上分别依次进行：基本体─-→连杆─-→机器人．单个基本体的消隐通过确定其各面的优先级来实现，连杆的消隐通过确定组成连杆的各基本体之间的显示优先级来实现，机器人消隐只需对连杆排序．此算法降低了计算量，提高了效率，已用于机器人图形仿真上．

Abstract: This paper is concerned with the hierachical tree structure of geometry model of robot, on whichthe high level is robot tree and the lower level is link tree whose node represents the primitive body. The hidden lines and faces elimination for robot graphic processing can then be performed on three different levels or-derly:primitive body──→link─→robot. Hidden removal for single primitive body is implemented by determining the priority of all faces of it; the min/max box and max-bounding contour of each primitive areused to judge the priority between multi-primitive (link); and only links are sorted for hidden removal ofrobot.The time for hidden removal computation is thus reduced greatly.The above algorithms have beenused in the robot graphic simulation.

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