Spatial Interaction

Badler, Norman I; Phillips, Cary B; Webber, Bonnie Lynn

doi:10.1093/oso/9780195073591.003.0003

Simulating Humans: Computer Graphics, Animation, and Control

Norman I Badler et al.

https://doi.org/10.1093/oso/9780195073591.001.0001

Published online:

12 November 2020

Published in print:

02 September 1993

Online ISBN:

9780197560273

Print ISBN:

9780195073591

- Title Pages
  - Notes
  - Notes
- Preface
  - Notes
  - Notes
1Chapter 1 Introduction and Historical Background
- Notes
- Notes
23Chapter 2 Body Modeling
- Notes
- Notes
- 3.1 Direct Manipulation 3.1 Direct Manipulation
  - 3.1.1 Translation 3.1.1 Translation
  - 3.1.2 Rotation 3.1.2 Rotation
  - 3.1.3 Integrated Systems 3.1.3 Integrated Systems
  - 3.1.4 The Jack Direct Manipulation Operator 3.1.4 The Jack Direct Manipulation Operator
    - The Mouse Line The Mouse Line
    - Linear Translation Linear Translation
    - Planar Translation Planar Translation
    - Rotation Rotation
- 3.2 Manipulation with Constraints 3.2 Manipulation with Constraints
  - 3.2.1 Postural Control using Constraints 3.2.1 Postural Control using Constraints
  - 3.2.2 Constraints for Inverse Kinematics 3.2.2 Constraints for Inverse Kinematics
  - 3.2.3 Features of Constraints 3.2.3 Features of Constraints
  - 3.2.4 Inverse Kinematics and the Center of Mass 3.2.4 Inverse Kinematics and the Center of Mass
    - Methods of Maintaining Balance Methods of Maintaining Balance
    - Kinematic Constraints on the Center of Mass Kinematic Constraints on the Center of Mass
  - 3.2.5 Interactive Methodology 3.2.5 Interactive Methodology
    - Interactive Dragging Interactive Dragging
    - Interactive Twisting Interactive Twisting
    - Manipulation with Constraints Manipulation with Constraints
- 3.3 Inverse Kinematic Positioning 3.3 Inverse Kinematic Positioning
  - 3.3.1 Constraints as a Nonlinear Programming Problem 3.3.1 Constraints as a Nonlinear Programming Problem
  - 3.3.2 Solving the Nonlinear Programming Problem 3.3.2 Solving the Nonlinear Programming Problem
    - Single Constraints Single Constraints
    - End-effectors End-effectors
    - Goal Types Goal Types
  - 3.3.3 Assembling Multiple Constraints 3.3.3 Assembling Multiple Constraints
  - 3.3.4 Stiffness of Individual Degrees of Freedom 3.3.4 Stiffness of Individual Degrees of Freedom
  - 3.3.5 An Example 3.3.5 An Example
- 3.4 Reachable Spaces 3.4 Reachable Spaces
  - 3.4.1 Workspace Point Computation Module 3.4.1 Workspace Point Computation Module
  - 3.4.2 Workspace Visualization 3.4.2 Workspace Visualization
  - 3.4.3 Criteria Selection 3.4.3 Criteria Selection
- Notes
- Notes
101Chapter 4 Behavioral Control
- Notes
- Notes
137Chapter 5 Simulation with Societies of Behaviors
- Notes
- Notes
207Chapter 6 Task-Level Specifications
- Notes
- Notes
243Chapter 7 Epilogue
- Notes
- Notes
- Bibliography
  - Notes
  - Notes
- 267Index
  - Notes
  - Notes

Chapter

67Chapter 3 Spatial Interaction

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https://doi.org/10.1093/oso/9780195073591.003.0003

Pages

67–100

Published:

September 1993

Abstract

This chapter describes the basic architecture of the Jack interactive system. The primary tools available to the Jack user involve direct manipulation of the displayed objects and figures on the screen. With articulated figures, movement of one part will naturally affect the position of other parts. Constraints are used to specify these relationships, and an inverse kinematics algorithm is used to achieve constraint satisfaction. As a consequence of user actions, certain global postural manipulations of the entire human figure are performed by the system. This chapter presents the direct spatial manipulations offered in Jack and shows how constraints are defined and maintained. One particular application of the body constraints is included: the generation of the reachable workspace of a chain of joints. 3D direct manipulation is a technique for controlling positions and orientations of geometric objects in a 3D environment in a non-numerical, visual way. It uses the visual structure as a handle on a geometric object. Direct manipulation techniques derive their input from pointing devices and provide a good correspondence between the movement of the physical device and the resulting movement of the object that the device controls. This is kinesthetic correspondence. Much research demonstrates the value of kinesthetically appropriate feedback [Bie87, BLP78, Sch83]. An example of this correspondence in a mouse-based translation operation is that if the user moves the mouse to the left, the object moves in such a way that its image on the screen moves to the left as well. The lack of kinesthetic feedback can make a manipulation system very difficult to use, akin to drawing while looking at your hand through a set of inverting mirrors. Providing this correspondence in two dimensions is fairly straightforward, but in three dimensions it is considerably more complicated. The advantage of the direct manipulation paradigm is that it is intuitive: it should always be clear to the user how to move the input device to cause the object to move in a desired direction. It focuses the user’s attention on the object, and gives the user the impression of manipulating the object itself.

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67Chapter 3 Spatial Interaction

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