基于两段式IK与关键帧的虚拟人运动控制

为提高网络虚拟环境中虚拟人运动控制的效率与显示效果,提出逆运动学和关键帧法相结合的虚拟人运动控制方法.在逆运动学中设计改进的CCD算法实现分阶段IK计算,因回溯路径的缩短,减少了计算量；在关键帧中插入由四元数插值法生成的中间帧,提高虚拟人运动的真实感；通过IK求解的关节旋转角不仅实现对姿态的逼近,还使关节更具有弹性；引入运动特征参量,可增强虚拟人动作模式的多样性.

Motion control for virtual human based on IK by two phases and key frames

To improve the efficiency of the motion control and displaying effect of virtual human in virtual network environment,a motion control method combining the key frames method and the inverse kinematics(IK) is presented.For the inverse kinematics,the cyclic-coordinate descent(CCD) algorithm is adjusted to calculate IK by two phases,which the backtracking path is shorten to reduce the computational complexity.For the key frames method,those middle frames which are generated the interpolation of quaternion,would be inserted into the key frames to increase the reality sense of virtual human movement.The rotation angles of joints which are solved by IK not only approach postures,but also make joints more resilient.In addition,the motion feature parameters are introduced to make the action model of virtual human more diversified.