Patent ID: 8228336

Claim:
A computer-implemented method comprising: identifying a computer-generated character comprising one or more parts that are interpenetrating in a real-time game environment, where the computer-generated character is represented by a hierarchical tree structure of parts and a root of the tree is a central part and leaves of the tree are extremity parts, where said identifying the computer-generated character comprising the one or more parts that are interpenetrating in the real-time game environment comprises: detecting two parts of the computer-generated character that are separated by a distance that exceeds a constraint threshold; and raycasting between the two parts and determining whether an object is between them; disabling from collisions the parts of the computer-generated character that are interpenetrating and the parts further from the root of the tree than the interpenetrating parts in the hierarchical tree structure; procedurally animating the computer-generated character using a motion synthesis system and a physics engine for a pre-determined amount of simulated time; and re-enabling collisions of the disabled parts.