Indlela yokuguquguquka kwemizimba 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, ngokuqwalasela iimpawu ezingaqhelekanga zokulayisha kunye nokuguqulwa kwendlela yokutshixa, umcu wokutywina kunye nebhloko ye-buffer, isixa esikhulu sedatha yovavanyo lwangaphambili luhlala lufuneka ukuxhasa kunye nebhentshi, nto leyo ingumsebenzi oyimfuneko ukuvavanya ngokuchanekileyo ukuqina kobume bokuvalwa komzimba ngokusebenzisa indlela eguqukayo yemizimba emininzi.
Indlela yokwexeshana engaqhelekanga
Imodeli yento enomda esetyenziswa kukulinganisa okwethutyana okungeyomda yeyona ibanzi, kubandakanya nenxalenye yokuvala ngokwayo kunye nezixhobo ezinxulumeneyo, ezinje ngetywina, indlela yokutshixa umnyango, ibhloko ye-buffer, i-pneumatic / pole yombane, njl. Ngokomzekelo, kwinkqubo yokuhlalutya i-SLAM yesigqubuthelo sangaphambili, ukuqina kwamalungu entsimbi yomzimba afana nomqadi ongaphezulu wetanki yamanzi kunye nenkxaso yesibane sentloko sikwavavanywa.
