Mixed collision detection method based on convex hull and pre-judgment

The invention relates to the field of industrial automation virtual simulation, in particular to a mixed collision detection method based on a convex hull and pre-judgment, which comprises the following steps of: 1, setting a similar-to-sphere threshold value and an inclined included angle threshold value; 2, calculating a convex hull of a model by using a rapid convex hull algorithm, and calculating a central position of a bounding box and a model similar-to-sphere rate according to the convex hull of the model; 3, when the similar-to-sphere rate is smaller than the similar-to-sphere threshold value, adopting an SBB; otherwise, calculating the inclined included angle of the model, and if the inclined included angle is smaller than the inclined included angle threshold value, selecting an AABB; when the inclined included angle is greater than the inclined included angle threshold value, selecting an OBB; and 4, carrying out intersection test on the bounding boxes. According to the method, the appropriate boun