Patent ID: 9460540
Filing Date: 2016-10-04
CPC Classification: G06T

Claim Text:
1. A method to avoid collision, the method comprising: reading tracing information stored in a current cell of a terrain map in which a character is located, the tracing information comprising an entry angle of the character in the current cell; advancing the character in accordance with a previous entry angle and a previous velocity of the character, when collision avoidance is not needed; searching the current cell for at least one other character whose entry angle and velocity indicates a potential collision between the character and the at least one other character; if the potential collision is indicated, computing a time-to-collision; if the time-to-collision is outside a predetermined range, calculate a new velocity for the character using a reciprocal velocity obstacle operation; and if the time-to-collision is within the predetermined range, calculate the new velocity for the character using an operation of a type different from the reciprocal velocity obstacle operation.