JPH1153585A - Collision detecting method, body displacing method, and education simulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To decrease an arithmetic processing quantity for deciding contact by defining standard solids including the outward shapes of bodies in a virtual space respectively for the bodies and detecting a collision according to whether or not spaces that those defined bodies occupy overlap with one another. SOLUTION: The standard solids (a), (b), and (d) including the outward shapes of the three-dimensional bodies A, B, and D in the virtual space are defined and a collision is detected according to whether or not the spaces that those standard solids (a), (b), and (d) occupy overlap with one another to make an interference check. If one of the standard solids (a), (b), and (d) occupies the space together with another one, interference between the three-dimensional bodies included in the standard solid is checked. Namely, interference between the three-dimensional body A and three-dimensional body B included in the standard solid (a) and standard solid (b) occupying the same space together is checked.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision detection method, an object displacement method and an educational simulator capable of detecting a collision of an object on three-dimensional computer graphics, and more particularly to an object in a virtual space. The present invention relates to a collision detection method, an object displacement method, and an educational simulator suitable for moving a robot at high speed.

[0002]

2. Description of the Related Art In recent years, with the spread of multimedia-compatible personal computers and inexpensive networks, an environment for executing three-dimensional CG (computer graphics) can be easily used. With the improvement of the environment, the development of an educational simulator for providing education by simulating a work using three-dimensional CG is being promoted.

As such an educational simulator, there is, for example, an educational simulator for simulating the disassembly and disassembly of equipment and understanding the procedure as work training in the education of maintenance service personnel.

[0004]

In the conventional educational simulator, when an object displayed in the virtual space of the CG is moved, it is determined whether or not contact occurs for all objects existing around the destination. The object is moving while determining. For this reason, there is a problem that the amount of calculation processing accompanying the movement of the object increases. In particular, when the shape of the object becomes complicated or when the number of existing objects increases, the amount of arithmetic processing increases, and the problem becomes more serious.

[0005] If a simulation is performed using such three dimensions, the processing time is lengthened due to an increase in the amount of arithmetic processing as described above, and it is difficult to speed up the movement of the object.

SUMMARY OF THE INVENTION An object of the present invention is to reduce the amount of arithmetic processing for determining contact in order to smoothly move an object.

[0007]

According to a first aspect of the present invention, there is provided a collision detection method for detecting a collision of an object on three-dimensional computer graphics. For each of the objects in the space, a standard solid surrounding the outer shape of the object is defined, and a collision is detected based on whether or not the spaces occupied by the standard solids defined above overlap. A collision detection method is provided.

According to a second aspect of the present invention, in an object displacement method for displacing an object on three-dimensional computer graphics, a displacement object to be displaced in a virtual space is a displacement destination to be displaced. The collision object is detected by the collision detection method of the first aspect, and when the collision object is detected, the surface of the displaced object and the surface of the other object can be calculated and displaced. There is provided an object displacement method characterized by performing a collision determination for determining whether or not, and if not, displacing the displaced object without performing the collision determination.

According to a third aspect of the present invention, in an object displacement method for displacing an object on three-dimensional computer graphics, an object existing in a traveling direction of a displaced object to be displaced in a virtual space is provided. Calculating a distance to the displaced object, and displacing the displaced object without performing the collision determination when a distance to be displaced by the displaced object is smaller than the calculated distance. Is provided.

According to a fourth aspect of the present invention, there is provided an educational simulator for simulating the procedure of disassembly and assembly involving displacement of an object in a virtual space of three-dimensional computer graphics by simulation. There is provided an educational simulator characterized by displacing an object in a virtual space according to the object moving methods of the second and third aspects.

[0011]

Embodiments of the present invention will be described below with reference to the drawings.

Referring to FIG. 1, a first embodiment of the present invention will be described. Three-dimensional CG in this embodiment
(Computer graphics) Simulated experience system
This is for simulating the actual disassembly and practical training using actual equipment using a personal computer, and is used for simulation education to make maintenance personnel understand the procedure of disassembly and assembly of equipment. According to the three-dimensional CG virtual experience system to which the present invention is applied, the disassembly and practice training using actual equipment can be performed by virtual experience using a personal computer.

Note that the movement of an object in the following description includes a translational displacement and a rotational displacement, and means that each of these displacements or a combination thereof is caused to an object in a virtual space.

In FIG. 1, a three-dimensional CG simulation experience system 1000 includes a three-dimensional data creation system 1200 for creating three-dimensional data of a training target device, and a storage device 1500 for storing the created three-dimensional data. When,
A disassembly / simulation experience system 1400 for simulating an operation of disassembly and assembly on a personal computer using the stored three-dimensional data is provided.

First, a three-dimensional data creation system 1200
Will be described. The three-dimensional data creation system 12
00 denotes a three-dimensional shape creation program 1210 for creating shape data of a three-dimensional figure, a shape data server 1230 for storing the created shape data, and a photo editor for editing an image file such as a photograph. A program 1220, a photo data server 1240 for storing edited photo data, and the shape data server 1
A three-dimensional data creation program 1250 for creating three-dimensional data using data stored in the 230 and the photo data server 1240;
And a virtual reality construction program 1260 for judging movement and collision.

In the three-dimensional shape creation program 1210, shape data expressing a three-dimensional figure by a combination of rectangular parallelepiped boxes is created.

The photo editing program 1220 performs editing such as cutting out a necessary portion and changing the size of an image file in which a photograph to be trained is imported as image information.

The above three-dimensional data creation program 1250
Then, on each side of the box created by the three-dimensional shape creation program 1210, the photo editing program 122
The picture of the target device edited in step 0 is pasted. As a result, three-dimensional data describing a three-dimensional object expressing the target device is created. Also, the three-dimensional data creation program 1250 has a function of defining a three-dimensional object and confirming the operation. As the definition work, for example, a work of defining an attribute of each three-dimensional object and a work of designating a connection relationship between the three-dimensional objects are performed. More specifically, for example, a definition of having a door, a definition of a rotation axis of the door, and the like are performed as the attributes. In addition, as the connection relationship, a connection relationship in which a new three-dimensional object is formed by using a plurality of three-dimensional objects as parts is specified. Then, as the operation confirmation, for the created three-dimensional object, for example, opening / closing of a door, separation and combination of the three-dimensional object combined as a part, and the like are confirmed.

The above definition is performed in an analog input environment using a mouse. This makes it easier to define intuitively, and in particular, it is possible to reduce the number of work steps as compared with a case where digital values or characters are input digitally from a keyboard. The specific procedure of the definition operation will be described by taking the setting of the door axis as an example.

The door needs to define an opening and closing axis. In the case of digital definition, the name of the shape data is specified, and the side serving as the axis is specified. This designation is performed, for example, by inputting the number of the side.

In such a digital procedure, the operator must know in advance the description information such as the name of the shape data and the number of the side. However, such description information is information for describing a three-dimensional object, and is information that does not need to be known. Therefore, there is a problem that the complexity of the work is increased, and the description information is information that is not technically meaningful, so that it is difficult to specify the information incorrectly or find an error.

On the other hand, in the three-dimensional data creation program 1250 to which the present invention is applied, the attribute is defined in the following procedure.

First, the door data is clicked with the mouse. Next, an axis object represented by an elongated shape is taken out and moved with a mouse to a position to be an axis of the door.

According to such a procedure, the setting of the axis of the door is executed only by operating the mouse. In addition, the position of the shaft can be provided at an arbitrary position.

Next, the three-dimensional data creation system 12
A procedure for creating three-dimensional data using 00 will be described.

(1) Disassemble the target device to a part that can be implemented in education.

(2) Photograph each part from six directions with a digital camera. Then, the image data of the photographed photo is edited by the photo editing program 1220. Then, the edited image data is transmitted to the photograph data server 12.
40.

(3) A three-dimensional shape described by a combination of rectangular parallelepipeds of each part is created by the three-dimensional shape creating program 1210. Then, the created shape data of the three-dimensional shape is stored in the shape data server 1230.

(4) The photograph stored in the photograph data server 1240 is pasted by the three-dimensional data creation program 1250 on each surface of the three-dimensional rectangular parallelepiped stored in the shape data server 1230. Create data of a three-dimensional object.

(5) The attributes (doors, etc.) of the three-dimensional object are defined by the three-dimensional data creation program 1250.

(6) Assemble a three-dimensional object having the above-defined attributes as a part, and specify the connection relationship between the three-dimensional objects by the three-dimensional data creation program 1250.

(7) The above three-dimensional data creation program 1
The operation of the above attribute and connection relationship is confirmed by 250,
Check that these are correctly defined.

Next, the disassembly / assembly simulated experience system 14
00 will be described. The disassembly and simulated experience system 1400 includes a disassembly and simulated experience program 1410,
And a virtual reality construction program 1420 for performing display, movement, and collision determination of a three-dimensional object.

The disassembly / assembly virtual experience system 1400 does not employ a three-dimensional input device or a three-dimensional display device as a man-machine interface hardware, but targets a two-dimensional input device and a display device. As a result, a mouse and a CRT display that are widely used can be used, and a system environment can be realized at low cost.

It is not always necessary for the operation that the trainee is familiar with to realize the same operation as in the real world. Therefore, the operation procedure is simplified by accepting designation by a command. For example, in the operation of opening and closing the screw, a target member is selected, and commands such as “open the screw” and “close the screw” are received.

The command operation employs a man-machine interface that can be specified using only a mouse and attached buttons. As the command operation, commands for designating the following six functions are prepared in advance, and the designation of the command is received by each operation using a mouse.

1. The ability to continuously move and rotate objects. This is a function of moving and rotating an object in the virtual space according to the moving direction and the moving amount of the mouse.

2. A function to rotate an object in a specified direction. This is a function of rotating an object so that a designated direction is directed to the front in order to facilitate position adjustment during disassembly and assembly.

3. Continuous movement and rotation of viewpoint.

4. A function to rotate the viewpoint in the specified direction. This is a function different from the above-described function 2 in that the viewpoint is rotated around the object so that the designated direction of the object is in front.

5. Separating and combining objects. This is a function of separating and combining objects preset at the time of data creation. Coupling is only possible between separate objects. When this function is executed, the direction of the object is automatically adjusted when the object approaches a certain distance, thereby facilitating the joining operation.

6. Door opening and closing function. This is a function of opening and closing the door according to the moving direction and the moving amount of the mouse. That is, when "open" is executed by a command, the door is opened and closed by moving to an arbitrary position while clicking on the door with the mouse, instead of opening automatically.

As a problem common to the above functions, there is an interference check. When moving or rotating an object, it is necessary to check for interference between the objects, and if they collide, it is necessary to prevent further movement. The interference check checks whether the moving or rotating object collides with all other objects in the virtual space. For this reason, a large amount of calculation is required for the interference check. To make the operation smooth, we want to reduce the amount of calculation as much as possible.

Therefore, instead of performing an interference check on all the polygons constituting the object from the beginning, a simple box wrapping the outer shape of the object is created, and the box is checked for interference. Only a two-stage system that performs a detailed interference check on all polygons.

Referring to FIG. 16, the interference check performed in these two stages will be described. Although it is a three-dimensional phenomenon, it is expressed in a planar manner in FIG. In FIG. 16, standard solids a, b, and d that respectively surround the external shapes of the three-dimensional objects A, B, and D are defined. It is assumed that the three-dimensional object A moves toward the three-dimensional objects B and D.

First, in FIG. 16A, it is detected whether or not the standard solids a, b, and d overlap and occupy the space, and an interference check is performed. That is, at this stage, 3
Instead of directly detecting the interference between the three-dimensional objects A, B, and D, the amount of calculation is reduced by checking the interference between the standard solids a, b, and d having a simpler shape and enclosing the respective outer shapes. .

When any one of the standard solids A, b, and d occupies the space overlappingly, the interference between the three-dimensional objects wrapped in the standard solid is checked. That is, as shown in FIG. 16B, the interference between the three-dimensional object A and the three-dimensional object B wrapped in the standard solid a and the standard solid b occupying the space is checked. I do.

As a result, the movement which is most frequently performed and which is expected to be smooth is performed smoothly when no collision occurs.

Further, by executing the interference check at the timing as shown in FIG. 2, both the reduction of the calculation amount and the prevention of the omission of the check are achieved. That is, if the check is made in detail, the amount of calculation increases and the operation becomes jerky, and if it is too rough, there is a case where the object passes through an object in the middle of movement. In this system, the thickness of the object in the moving direction is calculated, and interference check is performed for each thickness. As a result, the amount of calculation is reduced while the object is prevented from slipping through.

Next, the disassembly / simulation experience program 1410 (see FIG. 1) will be described with reference to FIGS.

First, the configuration of the disassembly / simulation experience program will be described with reference to FIG.

In FIG. 3, a disassembly / assembly pseudo experience program 1410 includes an initializer 1411 for initializing a virtual space, and a BOX conversion of an object for generating a standard solid body which respectively wraps the outer shape of each object in the virtual space. A unit 1412, a movement instruction input unit 1414 for receiving a movement instruction, an object moving unit 1415 for moving an object, a collision detection unit 1416 for detecting collision between objects, And a control unit 1413 for control.

Next, with reference to FIG. 3 and FIG. 4, an operation procedure of the disassembly / simulation experience program 1410 will be described focusing on an object movement procedure.

First, the initialization section 1411 initializes the virtual space (step S10).
1).

Then, the BOX of each object in the virtual space
The conversion is performed in the BOX conversion unit 1412 of the object (step S102). Here, the BOXization is to represent an object by a standard solid having a predetermined shape surrounding the outer shape. The standard three-dimensional shape may be, for example, a shape having a surface that is not concave. That is, a line segment connecting any two points of the standard solid can be in a shape that is not outside (ie, on the surface or inside) the standard solid. This simplifies the concave shape of the object,
A standard solid can be described with a smaller number of vertices than the number of vertices describing the shape of the object. Therefore, it is possible to reduce the amount of arithmetic processing for detecting the movement and collision of the standard solid.

As a more specific standard solid shape, for example, a tetrahedron, a hexahedron, a sphere, or the like can be used. By using such a shape, the standard solid is described in a simpler manner, and the amount of calculation for movement and collision detection is further reduced.

In particular, a rectangular parallelepiped or a cube can be used as the hexahedron. By adopting such a shape, it is possible to efficiently cope with a mechanical part whose schematic shape is a box shape. Furthermore, it is also suitable for expressing a three-dimensional object by attaching a photograph as the attribute of the surface, that is, the texture of the surface.

The initialization and BOX conversion in steps S101 and S102 are performed prior to the movement of the object.

Then, the control unit 1413 obtains the position information of the destination of the moving object whose instruction has been received by the movement instruction input unit 1414 (step S103).

Next, the control unit 1413 calculates the thickness of the object to be moved in the traveling direction and the movement distance to the position of the destination to which the object is to be moved (step S1).
04). Then, the thickness and the moving distance are compared (step S105). As a result of the comparison, if the moving distance is equal to or less than the thickness, the process proceeds to step S110, and a command to move the designated distance accepted by the moving instruction input unit 1414 is given from the control unit 1413 to the object moving unit 1415. Next, the collision detection unit 1416 determines whether or not the moving destination is in contact with another object. If the result of determination is that there is contact, the moving object is returned to its original position; otherwise, the movement of the object ends.

On the other hand, as a result of the comparison, if the moving distance exceeds the thickness, the process proceeds to step S106, and the control unit 1413 calculates the shape of the object formed before and after the movement.

Then, the collision detection unit 1416 detects contact between the object whose shape has been calculated in step S106 and another object (step S107). Here, when the contact is detected, the process proceeds to step S113, where the position immediately before the contact is calculated, and the object is moved by the object moving unit 1415 to the calculated position immediately before.

On the other hand, if no contact is detected,
The object is moved by the object moving unit 1415 (step S109).

Next, data describing a three-dimensional object (hereinafter referred to as an object) will be described with reference to FIGS. Data describing a three-dimensional object is defined as one object that cannot be further decomposed. When data is read, an object to which a plurality of objects are connected or a single object is one moving target according to the relationship between the data. When the simulation is started, a plurality of objects become one moving object due to the connection between the objects, or an object that was one object at the time of data reading is separated into a plurality by separating the objects, Each may be one moving object.

Further, data describing a standard solid enclosing the outer shape of the object is added and used for detecting collision of the object. In the following description, a case where a hexahedron is used as a standard solid will be described.

First, a data file describing a three-dimensional object will be described with reference to FIG.

In FIG. 5, the data format representing one object is configured to include shape definition data and state control data. The shape definition data is fixedly defined for the object. The state control data is changed in accordance with a change in the state of the object, that is, a change in the connection relationship between the objects.

Referring to FIG. 6, a data file describing a hexahedral object, which is a standard solid surrounding the outer shape of the object, will be described. In FIG. 6, the hexahedral object is defined only by the shape definition data. Here, the hexahedral object is different from the above-described object shape definition data in that the hexahedral object is redefined according to a change in the connection relationship between the objects. That is, when two objects exist independently, a hexahedral object is defined for each object. And when these objects combine, 2
A hexahedral object enclosing the two objects together is newly defined.

Next, the shape definition data will be described with reference to FIG.

In FIG. 7, the shape definition data includes an object name, information describing vertices forming the object, and information on a surface forming the object. The information describing the vertices constituting the object is described by the number of vertices constituting the object, the vertex number and the coordinates of each vertex. In addition, the information on the surface forming the object includes the number of surfaces forming the object, and the
It is described by the number of vertices constituting the surface and the vertex number of each vertex.

Next, the state control data will be described with reference to FIG.

In FIG. 8, the state control data includes the name of the parent object to which the object belongs, the name of the hexahedral object surrounding the outside of the object, and the information of the child objects belonging to the object. Have been. The information of the child object is
The number of child objects belonging to the object,
The name of each child object is described.

Next, with reference to FIGS. 9 and 10, a description will be given of the relationship between the connection between two objects and the shape definition data.

First, a case where two objects exist independently will be described.

In FIG. 9A, the object A
And the object B exist independently. That is, both object A and object B
Does not belong to the parent object. Further, there is no child object belonging to either the object A or the object B. Although not shown, a hexahedral object a surrounding the object A is defined corresponding to the object A, and a hexahedral object b surrounding the object B is defined corresponding to the object B.

In such a state, the data files describing the objects of the two objects A and B are represented as shown in FIG. 10A. In FIG. 10, the shape definition data is simplified because it is not changed according to the state of the object, and the symbols (A, B) for identifying the object corresponding to the data file are added, and the shape definition data A, As the definition data B, the shape definition data of each of the objects A and B is represented. According to the format shown in FIG. 7, this corresponds to the description of the object A on the first line of the shape definition data A and the description of the object B on the first line of the shape definition data B.

In FIG. 10A, in the data file containing the shape definition data A, the column of the name of the parent object to which this object belongs is blank, and there is no parent object to which the object A belongs. It is shown. In addition, 6 surrounding the outside of this object
The column of the name of the hexahedron object indicates that the name of the hexahedron object corresponding to the object A is the hexahedron a. In the column of the number of child objects belonging to this object, 0 is described, which indicates that there is no child object belonging to object A. Similarly, the state of the object B is described in the data file including the shape definition data B.

Next, a case where one object is combined with another object to form a parent-child relationship will be described.

In FIG. 9B, an object A and an object B are combined with each other to form a new object A. In the new object A, the object A has a parent object and the object B has a child object. Although not shown, a hexahedral object a ′ is defined as a hexahedral object surrounding the outside of the new object A.

In such a state, the data files describing the objects of the two objects A and B are respectively represented as shown in FIG. 10B. In FIG. 10, since the shape definition data is not changed depending on the state of the object, it is drawn simply as in FIG. 10A.

In FIG. 10B, in the data file containing the shape definition data A, the column of the name of the parent object to which the present object belongs is blank, and the parent object to which the object A belongs does not exist. It is shown. In addition, 6 surrounding the outside of this object
The hexahedron object name corresponding to the new object A is described in the column of the name of the hexahedron object, and the hexahedron object a ′ is described. It is shown that a 'corresponds.
In the column of the number of child objects belonging to this object, 1 is written, and its name B is described. This indicates that there is one child object belonging to object A, and that object is object B.

In the data file including the shape definition data B, A is written in the column of the name of the parent object to which the present object belongs, indicating that the parent object to which the object B belongs is the object A. ing. The column of the name of the hexahedral object surrounding the outside of this object is blank, and the object B
Indicates that there is no hexahedral object corresponding to. In the column of the number of child objects belonging to this object, 0 is described, and the object B
Indicates that there are no child objects belonging to.

Next, with reference to FIG. 11, a description will be given of a data file that describes objects constituting a more complicated parent-child relationship. In FIG. 11, seven data files including shape definition data A, B, C, D, E, 1, and m are associated with each other. Each data file has seven objects A,
B, C, D, E, l, m are described, and seven objects A, B, C, D, E, 1, m
It is shown that a new object A including is constructed. In the parent-child relationship of the connection, objects B, C, D, and E belong to object A, and objects 1 and m belong to object E. In the column of the name of the hexahedral object that surrounds the outside of this object in each data file, only the data file of the highest object in the parent-child relationship is entered, and in the data file of the object belonging to any object, the space is blank. It has become.

In the case shown in FIG. 11, the hexahedral object enclosing each of the seven objects A, B, C, D, E, l, and m is a hexahedron a ″, and When moving the object A, it is only necessary to check the collision regarding the hexahedral object hexahedron a ″. That is, if the collision with respect to the hexahedral object hexahedron a ″ is not detected, it can be said that none of the seven objects A, B, C, D, E, l, and m collide.

Next, a method of generating a hexahedral object surrounding the outside of an object describing an object will be described.

As described above, the coordinates of each vertex constituting the object are written in the data file of the object describing the object. From the coordinate values of each vertex, the maximum value and the minimum value on each coordinate axis are selected. Thus, a cube contacting the object from outside, that is, a hexahedron surrounding the object from outside can be determined. More specifically, for example, a hexahedron surrounding the outer shape of an object is represented by the coordinates (x ₁ , y ₁ , y ₁ ,
z ₁ ) to (x _n , y _n , z _n ), the minimum value x _min and the maximum value x _max on the x-axis and the minimum value y _{min on the} y-axis
And a maximum value y _max and a minimum value z _min and a maximum value z _{max on} the z-axis. That is, a surface passing through x _min and perpendicular to the x axis, a surface passing through x _max and perpendicular to the x axis, a surface passing through y _min and perpendicular to the y axis, a surface passing through y _max and perpendicular to the y axis, A hexahedron having six surfaces including a surface passing through z _min and perpendicular to the z-axis and a surface passing through z _max and perpendicular to the z-axis is determined.
It is a facepiece.

Next, a method for calculating the distance between hexahedral objects will be described.

A point representing the position of the hexahedral object is defined. As this position, the center of the object in which the hexahedral object is defined, or the origin of the local coordinates defined in the object can be used. The approximate size of the hexahedral object can be obtained as the distance between the vertex farthest from the point representing the position and the point representing the position among the eight vertices of the hexahedron.

The distance between two hexahedral objects can be easily obtained by using the coordinates of the point representing the position and the approximate size. That is, the distance between the two hexahedral objects is obtained by subtracting the approximate size of each hexahedral object from the distance of a point representing the position of each hexahedral object.

More precisely, the accuracy of the approximate distance can be improved by determining the approximate size in consideration of the orientation of the hexahedral object. That is, 6
The projection length of a line segment connecting the most representative vertex of the eight vertices of the face object and the point representing the position, and the line segment connecting the point representing the position of the two hexahedral objects is The size is approximate. As a result, the accuracy of obtaining the distance between the hexahedral objects can be improved, and particularly when the object has a rectangular parallelepiped shape having a large flatness, the accuracy is significantly improved.

Next, a screen display example of the movement of an object in the virtual experience system according to the present embodiment will be described with reference to FIGS.

FIG. 12 shows a state before the movement of the two objects. In FIG. 12, a recording drive unit is disposed on the left side of the drawing, and a personal computer main body is disposed on the right side of the drawing. In the following operation, the recording drive unit is
It simulates the operation of trying to incorporate it inside the personal computer.

FIG. 13 shows a state in which the movement of the recording drive unit has been started. That is, the recording drive unit is moving toward the personal computer that is stationary in the virtual space. The edges of the hexahedron surrounding the recording drive unit are displayed, indicating that the object is moving.

FIG. 14 shows a state in which the recording drive unit has approached the personal computer body.

FIG. 15 shows a state where the recording drive unit has collided with the side surface of the personal computer main body. In this example, since the work of removing the side plate of the personal computer body was not performed, the recording drive unit
It cannot be incorporated into a personal computer. Therefore, a warning display is performed to indicate that an impossible operation has been instructed. The warning display can be performed by, for example, changing the display mode of a moving object (in this case, a recording drive unit), emitting a warning sound, or the like.

In this way, the operator can learn an appropriate procedure for assembling the device, an installation direction, and the like. In this example, a screen display when a collision is clearly recognized is illustrated. However, in actuality, the collision is avoided by setting the posture of the incorporating side, for example, the vertical state to the horizontal state. There are detailed procedures such as work to be done. Therefore, it is required to learn the procedure of the disassembly and assembly work by gaining experience. In such a case, by using a simulation experience system to which the present invention is applied, it is possible to practice without using an actual machine,
Increase educational opportunities and reduce educational costs

[0097]

According to the present invention, in the case of performing a simulation using three-dimensional computer graphics (CG), the arithmetic processing required for judging a collision between an object moving in a virtual space and another object is reduced. can do. Therefore, it is possible to smoothly move the object in the simulation and to move at a high speed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a virtual experience system to which the present invention is applied.

FIG. 2 is an explanatory diagram showing timing for checking interference in interference check to which the present invention is applied.

FIG. 3 is a block diagram showing the configuration of a disassembly / simulation experience program.

FIG. 4 is a flowchart illustrating an operation procedure of a disassembly / simulation experience program.

FIG. 5 is an explanatory diagram showing a data format of a data file describing an object indicating an object.

FIG. 6 is an explanatory diagram showing the data format of a data file describing a hexahedral object enclosing the outer shape of an object.

FIG. 7 is an explanatory diagram showing a data format of shape definition data.

FIG. 8 is an explanatory diagram showing a data format of state control data.

FIGS. 9A and 9B are explanatory diagrams showing a connection relationship between objects, in which FIG. 9A shows a state in which objects A and B exist independently, and FIG. 9B shows a state in which objects A and B are connected.

FIGS. 10A and 10B are explanatory diagrams showing a change in a data file describing an object and an interrelationship between the data files associated with the connection of the objects, wherein (a) data of objects A and B which exist independently; )
This is data indicating a state of connection in a parent-child relationship in which object A is a parent and object B is a child.

FIG. 11 is an explanatory diagram showing a data format and data interrelationships of objects connected in a three-generation parent-child relationship.

FIG. 12 is a display screen example of the simulation experience system,
It is an explanatory view showing a state before movement.

FIG. 13 is a display screen example of the simulation experience system,
It is an explanatory view showing a state where movement has begun.

FIG. 14 is a display screen example of the simulation experience system,
FIG. 4 is an explanatory diagram showing a state where the recording drive unit has approached the main body.

FIG. 15 is a display screen example of the simulation experience system,
FIG. 3 is an explanatory diagram illustrating a state where a recording drive unit has collided with a main body.

FIG. 16 is an explanatory view showing interference check performed in two stages, (a) a stage in which a check is made between standard solids, and (b) a stage in which a check is made between objects.

[Explanation of symbols]

1000 ... 3D CG simulation experience system, 1210 ... 3
Dimensional shape creation program, 1220 photo editing program, 1230 shape data server, 1240 photo data server, 1250 3D data creation program, 1
260 ... Virtual reality construction program, 14
00: disassembly / simulation experience system, 1410: disassembly / simulation experience program, 1411: initialization section, 1
412: BOX conversion unit for object, 1413 ... control unit, 141
4. Movement instruction input unit, 1415 ... Object movement unit, 1416
... Collision detector, 1420 ... Virtual reality construction program, 1500 ... Storage device.

Claims (11)

[Claims] 1. A collision detection method for detecting a collision of an object on three-dimensional computer graphics, wherein a standard solid enclosing the outer shape of the object is defined for each of the objects in a virtual space. A collision detection method, wherein a collision is detected depending on whether or not spaces defined by the defined solids overlap. 2. The collision detection method according to claim 1, wherein the standard solid body has a non-concave surface. 3. An object displacement method for displacing an object on three-dimensional computer graphics, wherein a displacement object to be displaced in a virtual space is an object that collides with a displacement destination to be displaced. The collision detection method according to any one of claims 2 and 3, when a collision object is detected, the surface of the displaced object,
Calculating the surface of the other object and performing a collision determination to determine whether the object can be displaced, and if not, displacing the displaced object without performing the collision determination. Object displacement method. 4. An object displacement method for displacing an object on three-dimensional computer graphics, wherein a distance between the object existing in the traveling direction of the displaced object to be displaced in the virtual space and the displaced object is calculated. And displacing the displaced object without performing the collision determination when the distance at which the displaceable object is to be displaced is smaller than the calculated distance. 5. The object displacement method according to claim 3, wherein the outer shape of the displaced object to be displaced in the virtual space and the standard solid enclosing the outer shape of the displaced object to be displaced together with the standard object. Detecting a standard solid enclosing the external shape of another object, finding the position of the object enclosed in the detected standard solid, displacing the displaced object immediately before the obtained position, and colliding the standard solid. An object displacement method, wherein, if not detected, the displacement object is displaced to a displacement destination to be displaced. 6. The object displacement method according to claim 3, wherein a thickness of the displacement object to be displaced in the virtual space in a traveling direction to be displaced is obtained, and the displaced object is displaced by the obtained thickness. An object displacement method, comprising: determining whether or not the displaced displaced object is in contact with another object. 7. The object displacement method according to claim 6, wherein the displacement of the displaced object is repeated until the displaced object is displaced by a displacement distance to be displaced, unless it is determined that the object is in contact with the object. Characteristic object displacement method. 8. The object displacement method according to claim 6, wherein when the contact is determined by the determination, the displaced object is returned by the determined thickness. 9. The object displacement method according to claim 3, wherein when it is determined that the object is in contact with the object, a display prompting a warning and / or a warning sound is generated. Method. 10. A recording medium on which a program for displacing an object in a virtual space of three-dimensional computer graphics is recorded, wherein the object is displaced according to the object displacing method according to any one of claims 3 to 9. A recording medium recording a program, wherein the program describes a procedure. 11. The procedure of disassembly and assembly involving displacement of an object is described below.
An educational simulator for simulating the displacement of an object in a virtual space of three-dimensional computer graphics by simulation, wherein the object is displaced in a virtual space according to the object moving method according to any one of claims 3 to 9. And educational simulator.