Method implemented by computer, system and product of the computer program to simulate the behavior of a hand that interacts with objects in a virtual environment.

摘要

The invention relates to a computer-implemented method for simulating the behaviour of a hand that interacts with objects in a virtual environment, which comprises: acquiring a skeleton (202) of a hand (300) by means of a hand-tracking device (620); computing a simulated hand (310) with objects (222) in a virtual environment (220); establishing a connection between a skeleton (214) of the stimulated hand (310) and the tracked skeleton (202) using connection energies (Ucrb); establishing an internal energy of the simulated hand (310), which takes into consideration the joint restrictions of the skeleton, skeleton–tissue connection and the deformation of non-linear soft tissue; establishing friction contact between the simulated hand (310) and the virtual objects using a penalty energy, taking into consideration relative interpenetration at contact points, and a friction energy, taking into consideration the deviation between each contact point and a corresponding sliding anchor point thereof; and computing the updated skeleton (214) and a tissue (216) of the simulated hand (310), minimising the total energy involved.