Project Isaac: Building Simulations for Virtual Environments

摘要

In this paper, we introduce the architecture of project Isaac. The project was created to develop efficient, robust and flexible physical-based simulations for virtual environments. It is based on the combined experiences of project Newton, ProtoSolid, and the Iowa driving simulator, developed concurrently at Cornell University, Unversity of Maryland, and Purdue University in the late 1980's. The project will develop a distributed simulation server consisting of a simulation core, a dynamics module, a geometry module based on Proxima, a control module and a task manager. With Isaac, it will be possible to simulate virtual worlds populated with autonomous robots under various levels of control. The control could range from simple script-based scenario control to complex artificial intelligence con­ trol such as what is now under study by project OZ at Carnegie Mellon Uni­ versity. The main objective is to provide the scientic basis for and to demonstrate the advantages of a model·driven simulation system that integrates dynamics, geometry and control. This will have a substantial impact on the simulation and virtual reality communities.