Virtual Articulated Object Collision Avoidance via Extraction Vectors
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Solution Overview
Problem
Existing methods for simulating the movement of virtual articulated objects in virtual environments often result in collisions between articulated elements, reducing the accuracy of modeling and increasing calculation time.
Innovation Solution
A method that calculates an interaction distance between articulated elements, extracts points, defines an extraction vector, and moves elements to avoid collisions by acting on degrees of freedom, ensuring that each element avoids the others without internal collisions, using either a minimum distance or penetration depth approach.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the dummy moves in an obstructed environment using existing methods, then the dummy can navigate obstacles, but the posture can be arbitrary leading to internal collisions between dummy members
Solution Approach 1:
The patent applies local quality by making each articulated element of the dummy independently aware of its spatial relationship with other elements. Each element calculates its own interaction distance and applies local extraction vectors to prevent internal collisions, rather than using global arbitrary posture control.
Solution Approach 2:
The patent implements feedback mechanisms where the system continuously calculates interaction distances between articulated elements and adjusts their positions in real-time. The extraction vector calculation provides feedback control that prevents internal collisions while maintaining movement accuracy.
2Measurement precision
If multiple articulated elements are monitored to prevent internal collisions, then collision accuracy improves, but calculation time increases
Solution Approach 1:
The patent segments the collision detection problem by calculating interaction distances pairwise between articulated elements rather than performing comprehensive multi-body collision analysis. This segmentation allows precise collision detection between element pairs while reducing overall computational complexity.
Solution Approach 2:
The patent applies partial action by focusing calculation only on interaction distances between articulated elements that are relevant to collision prevention, rather than analyzing all possible interactions in the environment. This selective approach maintains precision while optimizing calculation time.
Data Source
AI summary
A method of moving a virtual articulated object in a virtual environment in a succession of unit movements, the articulated object including a set of articulated elements connected together by a set of joints, the relative positions of the articulated elements being defined by a plurality of joint angles about a plurality of degrees of freedom. The method includes the steps of calculating an interaction distance between a given articulated element and the other articulated elements of the articulated object; extracting from the interaction distance, a first point belonging to the given articulated element, and a second point belonging to one of the other articulated elements of the articulated object; and defining a single extraction vector from the first and second points. The method further includes a step of moving the given articulated element away from the other articulated elements of the articulated object in a movement defined as a function of the single extraction vector by acting on the degrees of freedom of the articulated object in order to avoid a collision between the given articulated element and the other elements of the articulated object.