Displacement of a virtual articulated object in a virtual environment avoiding collisions between the articulated object and the environment

摘要

The method involves calculating an interaction distance between a virtual articulated object (10) and its obstacle (13d). Points (P1, P2) pertaining to one component (11) of the object and the obstacle, respectively are extracted, and a single extraction vector (V) is defined from the points. The object is moved from the obstacle according to movement defined based on the vector. The movement of the object is executed as per a translation movement at global position of the articulated object, and/or a rotation movement at global orientation of the articulated object, and/or articular rotation movement at the level of links (12) pertaining to a chain of links which precede the components (11) of the articulated object. An independent claim is also included for a computer program designed for implementing virtual articulated object movement method.