When walking on loose terrains, possibly covered with vegetation, the ground and grass should deform, but the character's gait should also change accordingly. We propose a method for modeling such two-ways interactions in real-time. We first complement a layered character model by a high-level controller, which uses position and angular velocity inputs to improve dynamic oscillations when walking on various slopes. Secondly, at a refined level, the feet are set to locally deform the ground and surrounding vegetation using efficient procedural functions, while the character's response to such deformations is computed through adapted inverse kinematics. While simple to set up, our method is generic enough to adapt to any character morphology. Moreover, its ability to generate in real time, consistent gaits on a variety of loose grounds of arbitrary slope, possibly covered with grass, makes it an interesting solution to enhance films and games.

中文翻译：

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软步行：角色与松散地面之间的实时双向互动

在可能布满植被的松散地形上行走时，地面和草地应变形，但角色的步态也应相应改变。我们提出了一种实时建模这种双向交互的方法。我们首先通过高级控制器对分层的角色模型进行补充，该控制器使用位置和角速度输入来改善在各种斜坡上行走时的动态振荡。其次，在精细的水平上，使用有效的程序功能将脚设置为使地面和周围的植被局部变形，而角色对此类变形的响应是通过调整后的逆运动学计算出来的。尽管设置简单，但我们的方法具有足够的通用性，可以适应任何字符形态。而且，它具有实时生成的能力，