新しい撃力生成アルゴリズムとその評価に関する研究(人工現実感)(マルチメディア・仮想環境基礎)

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Baraff's force approach and Mirtich's impulse approach are well known so as to generate force and impulsive force artificially at collision between rigid bodies. However, both cannot be unfortunately adapted to a practical use such as complex dynamic animation and simple haptic rendering. The reason is as follows: Baraff's approach deals with only a set of forces at multiple contacts, but does not include any static and dynamic frictions. Unfortunately, since almost all the natural phenomena should be operated by not force but impulse (a sequence of forces) supervised by time, his approach cannot reoresent practical aspects exactly. On the other hand, Mirtich's approach completely neglects time, e.g. the interval of collision, and therefore cannot apply for generating dynamic animation including simultaneous multiple contacts. Moreover, his approach makes only an impulsive force (does not generate a true impulse as force distribution). Consequently, it cannot be applicable for haptic rendering. For this reason, we propose a new approach based upon the integration of an arbitrarily chosen force distribution over a finite time interval by time. Also, we discuss ways to calibrate the force distribution and uncertain parameters such as reflection coefficient, static and dynamic friction coefficients between encountered bodies required in our new approach. By the deep calibration, the accuracy of vertical and tangential impulses in our approach is superior to that of those impulsive forces in Mirtich's approach.
社団法人電子情報通信学会の論文
2003-06-03

新しい撃力生成アルゴリズムとその評価に関する研究(人工現実感)(マルチメディア・仮想環境基礎)

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