3D Limb Bones Intersection Problem
My previous trajectory plotter checked for intersections linearly between the Bézier curve resolution points to determine whether the was an obstacle, and whether the respective obstruction was ‘walkable’.This approach was suitable for the 2D biped walker, as the model only had to account for the travel space of a point (the centre of the end effector).
Using a 3D model, the foot object (from ankle joint to toe-end joint) must be considered as it moves through space.
To obtain a trajectory that guarantees not to pass through another object, Zhao (2015, pp. 52-58) proposes creating a path of connected ‘bubbles’ as shown in figure 1.
"the concept of bubbles of free configuration space ... is an exact collision checking by attempting to cover the path with collision-free neighborhoods"(Zhao, 2015, p. 54)
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| Figure 1: Overlapping bubbles of free space to create a clear path (Zhao, 2015, p. 55) |
