Moving a virtual articulated object in a virtual environment...

Details Moving a virtual articulated object in a virtual environment... Moving a virtual articulated object in a virtual environment...

2004-10-21

2008-11-25

Frejd, Russell (Department: 2128)

Data processing: structural design, modeling, simulation, and em

Modeling by mathematical expression

C700S255000, C700S262000

Reexamination Certificate

active

07457733

ABSTRACT:
A method of moving a virtual articulated object in a succession of individual movements in a virtual environment, the articulated object being specified in the environment by a global position, a global orientation, and a plurality of joint angles defining the positions of a set of articulated elements making up the articulated object with a plurality of degrees of freedom. The method includes the steps of calculating an interaction distance between the articulated object and its environment; extracting from the interaction distance a first point belonging to one of the elements of the articulated object, and a second point belonging to the environment; and defining a single extraction vector from the first and second points. The method further includes the step of moving the articulated object away from its environment by a movement defined as a function of the single extraction vector and acting on the global position, and/or the global orientation, and/or the degrees of freedom of the articulated object so as to avoid a collision between the articulated object and the environment.

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