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

Soft Walks: Real-Time, Two-Ways Interaction between a Character and Loose Grounds