Indlela yokuguqula umzimba emininzi isetyenziselwa ukuvavanya ukuqina kwesakhiwo samalungu okuvala umzimba. Ilungu lomzimba lithathwa njengomzimba oqinileyo, kwaye amalungu okuvala achazwa njengomzimba obhetyebhetye. Ngokusebenzisa uhlalutyo oluguquguqukayo lwe-multi-body body ukuze ufumane umthwalo wamacandelo abalulekileyo, iimpawu ezihambelanayo zokuxinzelela uxinzelelo zingafumaneka, ukwenzela ukuba kuhlolwe ukuqina kwayo. Nangona kunjalo, kuthathela ingqalelo iimpawu ezingezizo zokulayisha kunye nokuguqulwa kwendlela yokutshixa, umtya wokutywina kunye nebhloko ye-buffer, isixa esikhulu sedatha yovavanyo lwangaphambili luhlala lufuneka ukuxhasa kunye nebhentshi, nto leyo ingumsebenzi oyimfuneko ukuvavanya ngokuchanekileyo ukuqina kwesakhiwo sokuvalwa komzimba. usebenzisa indlela eguquguqukayo yemizimba emininzi.
Indlela yokwexeshana engaqhelekanga
Imodeli yento enomda esetyenzisiweyo kukulinganisa okwethutyana okungahambelaniyo yeyona ibanzi, kubandakanya indawo yokuvala ngokwayo kunye nezixhobo ezinxulumeneyo, ezinje ngetywina, indlela yokutshixa ucango, ibhloko ye-buffer, ipneumatic / ipali yombane, njl. njl., kwaye ikwaqwalasela iindawo ezihambelanayo umzimba omhlophe. Ngokomzekelo, kwinkqubo yokuhlalutya i-SLAM yesigqubuthelo sangaphambili, ukuqina kwamalungu entsimbi yomzimba afana nomqadi ongaphezulu wetanki yamanzi kunye nenkxaso yesibane sentloko sikwavavanywa.
