Combining Path-and-Posture Planning in 3D Environment

This work is part of a project "full life cycle automation of computer animation generation". Among various animation planning tasks, it is crucial to plan the moving traces of avatars. Our previous animation generation software includes a path planning module. However, that module generates only a 2D plan path. In this paper, we introduce a recent work of 3D path planning. Considering the possibility that inadequate 3D environments may request the avatars to undertake special posture while traversing the environment, we combine path planning with posture planning in automatic 3D traverse. Other contributions of this paper include: development a 2D mathematical model for 3D real environment and an algorithm transforming the latter to the former; a new principle of constraint based avatar sensitive path determination; design a calculus for calculating constraint oriented cost calculation based on spatial movement complexity of motion graph clips.