Control apparatus, method and program

A computer-implemented method for moving a plurality of control objects in a three-dimensional space, the method comprising:

• selecting a set of common positions, the common positions including one or more overlapping portions of an initial position and a target position of moving the plurality of control objects;
• selecting a head object of the plurality of control objects, wherein the head object relates to a first control object located within the set of common positions and is adjacent to a position not occupied by the plurality of control objects in the target position;
• selecting a tail object of the plurality of control object, wherein the tail object is based on a second control object at a position outside the set of common positions and is movable while maintaining connectivity of a control object structure;
• moving, in series from the head object to the tail object, each of the plurality of control objects wherein control objects that are subsequent to the head object repeat a set of movements made by one or more portions of the head object;
• based on the moved control objects, updating the set of common positions based on the position not occupied by the plurality of control objects in the target position;
• updating the set of common positions based on one or more positions that are adjacent to portions of positions occupied by the plurality of control objects being simultaneously inside the target position and outside the set of common positions;
• and
• repeating at least the updating the set of common positions and the moving each of the plurality of control objects until at least one of the plurality of control objects occupies all portions of the target position.

A system for moving a plurality of control objects in a three-dimensional space, the system comprising:

• a processor;
• and
• a memory storing computer-executable instructions that when executed by the processor cause the system to:
• select a set of common positions, the common positions including one or more overlapping portions of an initial position and a target position of moving the plurality of control objects;
• select a head object of the plurality of control objects, wherein the head object relates to a first control object located within the set of common positions and is adjacent to a position not occupied by the plurality of control objects in the target position;
• select a tail object of the plurality of control object, wherein the tail object is based on a second control object at a position outside the set of common positions and is movable while maintaining connectivity of a control object structure;
• move, in series from the head object to the tail object, each of the plurality of control objects wherein control objects subsequent to the head object repeat a set of movements made by one or more portions of the head object;
• based on the moved control objects, update the set of common positions based on the position not occupied by the plurality of control objects in the target position;
• update the set of common positions based on one or more positions that are adjacent to portions of positions occupied by the plurality of control objects being simultaneously inside the target position and outside the set of common positions;
• and
• repeat at least the updating the set of common positions and the moving each of the plurality of control objects until at least one of the plurality of control objects occupies all portions of the target position.

A computer-readable non-transitory recording medium storing computer-executable instructions that when executed by a processor cause a computer system to:

• select a set of common positions, the common positions including one or more overlapping portions of an initial position and a target position of moving the plurality of control objects;
• select a head object of the plurality of control objects, wherein the head object relates to a first control object located within the set of common positions and is adjacent to a position not occupied by the plurality of control objects in the target position;
• select a tail object of the plurality of control object, wherein the tail object is based on a second control object at a position outside the set of common positions and is movable while maintaining connectivity of the control object structure;
• move, in series from the head object to the tail object, each of the plurality of control objects wherein control objects subsequent to the head object repeat a set of movements made by one or more portions of the head object;
• based on the moved control objects, update the set of common positions based on the position not occupied by the plurality of control objects in the target position;
• update the set of common positions based on one or more positions that are adjacent to portions of positions occupied by the plurality of control objects being simultaneously inside the target position and outside the set of common positions;
• and
• repeat at least the updating the set of common positions and the moving each of the control objects until at least one of the plurality of control objects occupies all portions of the target position.