We propose an efficient method for animation of virtual human models in an environment of obstacles. A nearby target location reachable by a human figure is given and a search is performed in the object space encompassing obstacles to obtain an optimum configuration. The goal is realized by simplifying the configuration space of a human model into two dimensions and then projecting a discretized object space onto it. The discretization is carried out using DDA (digital differential analyzer used in fast line drawing) or high speed frame buffer hardware. Further gains in speed are obtained by precalculating certain basic human configurations and attaining required postures in advance. We discuss walking over obstacles, reaching a given target by hand and a combination of these. The animation of human figures is very efficient permitting real-time performance of multiple human figures