MOVEMENT OF VIRTUAL ARTICULATED OBJECT IN VIRTUAL ENVIRONMENT WHILE AVOIDING INTERNAL COLLISION BETWEEN JUNCTION ELEMENTS OF ARTICULATED OBJECT

摘要

PPROBLEM TO BE SOLVED: To provide a method which is capable of moving and operating an articulated object to be simulated while avoiding a collision between a prescribed junction element and the other junction elements of the articulated object. PSOLUTION: The method of moving a virtual articulated object 10 in a virtual environment in a succession of unit movements includes steps of; calculating interaction distances between a prescribed junction element 11c and the other junction elements 11 of the articulated object 10; extracting a first point P1 belonging to the prescribed junction element and a second point P2 belonging to one of the other junction elements, from the interaction distances; defining a single extraction vector from the first and second points; and moving the prescribed junction element away from the other junction elements in a movement defined in accordance with the single extraction vector by acting on the degree of freedom of the articulated object in order to avoid a collision between the prescribed junction element and the other elements. PCOPYRIGHT: (C)2005,JPO&NCIPI