Motion Edit with Collision Avoidance

The existing motion editing methods don't take collision between the limbs into account potentially producing implausible motions. Facing this problem, in this paper we present an integrated framework of motion editing for producing collision-free motion in real-time. We first provide an efficient scheme for collision detection based on skeleton model, which can fast find the penetration between limbs of human body. Then we provide a novel scheme for constraint generation, which embeds the motion characteristics and inter-frame coherency into the constraint generator, and preserves the qualities of the original motion and motion consistency in the target motion. Finally, we show how to apply the Kalman filter to constraint resolve in a real-time manner. Comparing to other existing methods, our method not only can obtain the collision-free motion in real time, but also can preserve the original characteristics as many as possible and generate the new motion similar to the original motion. Experiment shows that our approach is very useful in producing natural and collision-free motion and efficient enough for application in animation system and game.