1. Introduction
Real-time applications such as driving simulators or video-games are more and more demanding complex outdoors scenes: an uneven terrain with animated grass, trees, rivers or water-falls, a sky with dancing clouds will be much more appealing than a conventional static environment. To feel really immerged, the user should not only be able to visit this animated scenery, but also to interact with it through the vehicle or the avatar he is controlling. This consists in both feeling the effect of the local slope and vegetation onto the avatar's motion and seeing the immediate consequences of this motion on the scenery, such as foot-prints or grass trodden down.