Virtual Articulated Object Collision Avoidance via Extraction Vector
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Solution Overview
Problem
Existing methods for simulating the movement of virtual articulated objects in virtual environments are inefficient due to high calculation times when avoiding collisions, particularly those using finite differences and gradient calculations.
Innovation Solution
A method that calculates a single interaction distance between the articulated object and its environment, extracts points to define an extraction vector, and moves the object based on this vector to avoid collisions, reducing calculation time and improving efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If finite differences and gradient calculations are used to avoid collisions, then collision avoidance is achieved, but calculation time increases significantly
Solution Approach 1:
The patent extracts only the essential information needed for collision avoidance by calculating a single interaction distance and defining a single extraction vector between the articulated object and environment, rather than performing comprehensive gradient calculations across all degrees of freedom. This selective extraction maintains collision avoidance reliability while dramatically reducing computational overhead.
Solution Approach 2:
Instead of calculating gradients to determine collision avoidance directions, the patent inverts the approach by directly calculating the interaction distance and using the extraction vector to define the movement direction away from collision. This inversion simplifies the mathematical operations from complex gradient computations to straightforward distance and vector calculations.
2Measurement precision
If comprehensive gradient calculations are performed for each joint movement, then precise collision avoidance is achieved, but device complexity increases
Solution Approach 1:
The patent extracts only the critical collision information through a single interaction distance calculation and one extraction vector, eliminating the need for complex gradient calculations across multiple joints. This extraction approach maintains sufficient precision for collision detection while dramatically reducing computational complexity.
Solution Approach 2:
The patent changes the computational parameters from complex gradient vectors requiring multiple joint calculations to a simpler interaction distance and single extraction vector. This parameter transformation maintains the essential information needed for collision avoidance while reducing the mathematical complexity from multivariate gradient computations to straightforward distance and vector operations.
Data Source
AI summary
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.