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首页> 外文期刊>IEEE transactions on visualization and computer graphics >Multi-Character Physical and Behavioral Interactions Controller
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Multi-Character Physical and Behavioral Interactions Controller

机译：多字符身体和行为交互控制器

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We extend the quadratic program (QP)-based task-space character control approach-initially intended for individual character animation-to multiple characters interacting among each other or with mobile/articulated elements of the environment. The interactions between the characters can be either physical interactions, such as contacts that can be established or broken at will between them and for which the forces are subjected to Newton's third law, or behavioral interactions, such as collision avoidance and cooperation that naturally emerge to achieve collaborative tasks from high-level specifications. We take a systematic approach integrating all the equations of motions of the characters, objects, and articulated environment parts in a single QP formulation in order to embrace and solve the most general instance of the problem, where independent individual character controllers would fail to account for the inherent coupling of their respective motions through those physical and behavioral interactions. Various types of motions/behaviors are controlled with only the one single formulation that we propose, and some examples of the original motions the framework allows are presented in the accompanying video.
机译：我们将基于二次程序（QP）的任务空间角色控制方法（最初旨在用于单个角色动画）扩展到彼此之间或与环境的移动/关节元素交互的多个角色。角色之间的交互可以是物理交互，例如可以在它们之间随意建立或断开的接触，并且力要经受牛顿第三定律，或者是行为交互，例如避免碰撞和自然产生的协作从高级规范中完成协作任务。我们采用一种系统的方法，将字符，物体和铰接的环境部分的所有运动方程式整合到单个QP公式中，以包含和解决问题的最一般情况，在这种情况下，独立的单个字符控制器将无法解决问题通过这些身体和行为的相互作用，它们各自运动的固有耦合。各种类型的动作/行为仅由我们建议的一种公式控制，并且在随附的视频中提供了框架允许的原始动作的一些示例。

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