FIELD: technology for imitating movement of virtual jointed object in virtual space.
SUBSTANCE: in the method, distance of interaction is computed between jointed object (10) and element of environment (13), on basis of aforementioned distances, interaction of first point (P1), belonging to one of jointed elements (11) of jointed object (10), and second point (P2), belonging to element of space surrounding it (13), deviation of jointed object (10) from element (13d) of environment (13) is determined on basis of first, second points (P1, P2) of unique deviation vector (V), by means of movement, determined in accordance to single deviation vector (V) and influencing global position and/or global orientation, and/or degrees of freedom of jointed object for preventing collision of jointed object (10) with element (13d) of environment.
EFFECT: increased speed of operation.
14 cl, 11 dwg
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