DISPLACEMENT OF A VIRTUAL ARTICULATED OBJECT IN A VIRTUAL ENVIRONMENT AVOIDING INTERNAL COLLISIONS BETWEEN THE ARTICULATED ELEMENTS OF THE ARTICULATED OBJECT.

摘要

Procedure of displacement of a virtual articulated object (10) in a virtual environment (13) according to a succession of elementary movements, including the articulated object (10) a set of articulated elements (11) linked together by a set of articulations (12 ), the relative positions of the articulated elements (11) being defined by a plurality of articulation angles according to a plurality of degrees of freedom, the method including a step to calculate an interaction distance between a given articulated element (11c) and the other articulated elements (11) of the articulated object (10), characterized in that the procedure further includes the following steps: - extracting from said interaction distance, a first point (P1) belonging to the given articulated element (11c) and a second point ( P2) belonging to one of the other articulated elements (11d) of the articulated object; - define a single extraction vector () from said first and second points; and - moving the given articulated element (11c) away from the other articulated elements of the articulated object, according to a movement defined as a function of the single extraction vector () and acting on the degrees of freedom of the articulated object (10) to avoid a collision between the given articulated element (11c) and the other elements of the articulated object.