CN102385761A - Logical reasoning-based rapid collision detection method in virtual operation simulation - Google Patents
Logical reasoning-based rapid collision detection method in virtual operation simulation Download PDFInfo
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Abstract
The invention relates to a logical reasoning-based rapid collision detection method in virtual operation simulation, which comprises the following steps: tracking all joint motions of one hand of an operator by utilizing a data glove, and implementing motion control on a virtual hand; according to the positional relationship between the virtual hand and a virtual object when the virtual hand grabs the virtual object, computing the included angle between the motion vector of the tail end of each finger and the normal vector of the position at which the tail end of the finger is contacted with the surface of the object last time; judging the motion directions of all fingers according to the included angles; performing logic reasoning according to the motion directions of the fingers; reasoning whether the fingers are contacted with the object or not on the basis whether fingers are contacted with the object or not in a previous frame; if the fingers are contacted with the object, not performing basal collision detection computation in the frame; and if the fingers are not contacted with the object, performing the basal collision detection computation in the frame, thereby, the invention provides the logical reasoning-based rapid collision detection method in the virtual operation simulation, which is capable of enabling the operation simulation that the virtual hand grabs the virtual object to be accurate and rapid.
Description
Technical field
The present invention relates to a kind of computer simulation technique field; Particularly a kind of under virtual environment in the pseudo operation simulation process to grasped process characteristics, adopt the method for reasoning from logic how to judge the virtual hand various piece fast and based on the situation that contacts of static collision checking method and former frame by the collision checking method of grasping object.
Background technology
In pseudo operation emulation; Need judge whether virtual hand catches object according to the collision detection result between virtual hand and the dummy object; The real time collision detection that in this grasping reciprocal process, need carry out simultaneously between five fingers and the dummy object is calculated; And be a process that continues contact, the travelling speed of colliding detection-phase has been proposed higher requirement.
Collision Detection Algorithm is a lot of at present, comprising: based on the collision detection algorithm of bounding box, based on the collision detection algorithm of distance calculation, based on the collision detection algorithm of Wei Nuotu, based on the collision detection algorithm of Flame Image Process; Some algorithm software bag: Opcode, RAPID, SOLID, PQP, QuickCD, SWIFT etc. are also arranged.These all are that its basic thought all is to discharge those discontiguous object or parts as early as possible, searches interesting areas as early as possible to the research of static collision detection algorithm between two objects, i.e. the part or the tri patch of possibility contactant body.The best situation of algorithm is that object does not contact, and collision detection algorithm can be got rid of object very soon, and program run is the fastest; The worst situation is that two each tri patchs of object are all contacted by the other side's object tri patch; Collision detection algorithm with the bounding volume hierarchy (BVH) tree is that example is explained this situation; In the collision detection stage, program need travel through each node in the bounding box tree, detects in twos; Detect leaf node, speed is obviously very slow always.For two objects that continue contact, program all needs from first to last to carry out collision detection according to this step in each frame circulation to be calculated, and travelling speed is slow.And because both computer model all is a surface model passes through this method and judge that both do not contact, this does not meet two objects contacts of real world situation after an object enters into other interior of articles.
Therefore need judge that fast the virtual hand various piece is with the collision checking method of being grabbed object with can judge after an object enters into another interior of articles to judge being case of collision according to the characteristics of virtual hand grasping dummy object.
Summary of the invention
To the defective of above-mentioned prior art, the purpose of this invention is to provide a kind of Fast Collision Detection method that can make logic-based reasoning in the pseudo operation emulation quickly and accurately of virtual hand grasping dummy object operational simulation.
The Fast Collision Detection method of logic-based reasoning in a kind of pseudo operation emulation may further comprise the steps:
Utilize data glove to operator's hand each joint motions follow the tracks of, implement motion control to virtual hand;
Position relation during according to virtual hand grasping dummy object between virtual hand and the dummy object; Calculate the angle between finger tips motion vector and the last finger tips and the body surface contact position method vector, judge the direction of motion of each finger according to said angle;
Carry out reasoning from logic according to the finger motion direction; Whether the reasoning finger contacts with object on the basis whether previous frame contacts, and finger contacts with object, and this frame does not carry out the collision detection on basis and calculates; Finger does not contact with object, and this frame carries out the collision detection on basis and calculates.
Position relation when the Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention, wherein said virtual hand grasping dummy object between virtual hand and the dummy object comprises:
Finger never contacts object to the contact object to this lateral movement of object;
Behind the contact object, if there is not force feedback equipment to stop operator's hand to continue motion, virtual finger will move to interior of articles;
Contact object defensive position is pointed to and is deviated from the motion of object direction, unclamps object and separates with object;
Finger motion moves to deviating from the object direction behind interior of articles, but finger still continues to contact at interior of articles and with object.
The Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention, the step of the wherein said direction of motion of judging each finger according to said angle is for being the direction of motion that each finger is judged at acute angle or obtuse angle according to said angle.
The Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention, the computing formula of wherein said angle is:
Wherein
is the finger tips motion vector;
is the normal vector at contact point place, and α is an angle.
The Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention is wherein saidly carried out reasoning from logic according to the finger motion direction, whether contacts at previous frame to infer the step whether finger contact with object on the basis of situation and comprise:
If previous frame contacts, if angle α is the obtuse angle, then show finger to this side direction motion of object, finger continues to contact with object, and this frame does not carry out the collision detection on basis and calculates;
If angle α is an acute angle, then show finger to deviating from the motion of object direction, this frame need carry out the collision detection on basis and calculate, and record collision detection result also is provided with the collision detection sign; If previous frame is contact not, this frame need carry out collision detection and calculate, and record collision detection result also is provided with the collision detection sign.
The Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention, the collision checking method of wherein judging according to the finger motion direction comprises the steps:
(1) the finger contact mark is " mistake ", obtains and write down last finger tips position;
(2), obtain and write down current finger tips position;
(3), judge whether the finger contact mark is " correctly "; Otherwise execution in step (8);
(4), according to method vector N with calculate angle α, judge the finger motion direction, wherein method vector N is finger tips position, current finger tips position-last time;
(5), judge whether finger shifts to object, otherwise execution in step (8);
(6), the finger contact mark is set and is " correctly ";
(7), current finger tips position is covered finger tips position last time, and execution in step (2);
(8), finger and object collision detection computations;
(9), record collision detection result is provided with the finger contact mark, and execution in step (7).
The Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention, wherein the collision detection implementation method of virtual hand grasping dummy object comprises the steps:
(1), in 5 fingers of judgement;
(2), obtain the current terminal position of finger;
(3), judge whether the finger contact mark is " correctly "; Otherwise execution in step (8);
(4), according to method vector N with calculate angle α, judge the finger motion direction, wherein method vector N is finger tips position, current finger tips position-last time;
(5), judge whether finger shifts to object, otherwise execution in step (8);
(6), finger continues to contact with object, does not carry out the collision detection on basis;
(7), current finger tips position is covered finger tips position last time, and execution in step (1);
(8), point and the object collision detection computations;
(9), the finger contact mark is set;
(10), judge whether finger contacts with object, otherwise execution in step (12);
(11), calculate and record contact point coordinate normal vector; The finger contact mark is set is " correctly ", and execution in step (7);
(12), the finger contact mark is not set, and execution in step (7).
The Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention, wherein said data glove adopts CyberGlove.
The Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention, wherein said data glove is provided with 22 sensors.
The Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention, wherein said dummy object is with surface model simulation/artificial physical model.
The present invention is directed to the characteristics that the people wears in the data glove control virtual hand grasping dummy object simulation process adopts the method for reasoning from logic to carry out the Fast Collision Detection Calculation Method.The present invention utilize data glove to operator's hand each joint motions follow the tracks of; Enforcement is to the motion control of virtual hand; Movement characteristic according to virtual hand grasping dummy object calculates angle α; Whether according to angle α is the direction of motion that each finger is judged at acute angle or obtuse angle, carries out reasoning from logic according to direction of motion, whether contact at previous frame to infer finger on the basis of situation and contact with object; Can solve virtual finger and enter into testing result and the inconsistent situation of real general knowledge that adopts static collision checking method to draw behind the interior of articles, thereby realize purpose with surface model artificial physical model.The actual collision that this method reduces between finger and the object on the whole detects number of times, improves collision detection speed.
Description of drawings
Fig. 1 a is that the one hand of the Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention refers to that grasping object finger rigidly connects and touches the object synoptic diagram;
Fig. 1 b is that the one hand of the Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention refers to that grasping object finger is to object one lateral movement synoptic diagram;
Fig. 1 c is that the one hand of the Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention refers to that grasping object finger deviates from object of which movement, unclamps the back and separates synoptic diagram;
Fig. 1 d is that the one hand of the Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention refers to that grasping object finger deviates from object of which movement, continues the contact synoptic diagram;
Fig. 2 is the collision detection algorithm process flow diagram based on the judgement of finger motion direction of the Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention;
Fig. 3 is the collision detection realization flow figure of virtual hand grasping dummy object of the Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention.
Embodiment
Be elaborated below in conjunction with the embodiment of accompanying drawing to the Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation of the present invention.
The people wears the motion of the virtual hand various piece in the data glove control virtual environment; The value of in the process of virtual finger grasping object, passing through a quantification is judged the direction of relative movement of two objects; If two object move toward one another; Object is under the situation of previous frame contact so, and this frame also continues contact, no longer carries out actual collision detection computations (best-case) at this frame; If two objects are to move dorsad, two objects possibly continue contact and also possibly not contact so, need carry out the collision detection (utilizing static collision detection algorithm storehouse such as Opcode etc.) of essence and calculate to confirm.This algorithm can be with the collision detection between the collision detection artificial physical model between the surface model simultaneously.
The Fast Collision Detection method of logic-based reasoning comprises following operation steps in the pseudo operation emulation of the present invention:
The operator controls the motion of virtual hand: the operator wears data glove, and data glove links to each other with computing machine, operator's hand exercise is controlled through data glove by computing machine, and then is controlled the motion of virtual hand in the virtual environment.
The operator wears the motion of data glove (CyberGlove of Immersion company) the control virtual hand with 22 sensors; Data glove is connected with computing machine; Gather the data of each sensor through data glove; Data are handled, and then each joint motions of people are followed the tracks of.
The judgement of virtual finger direction of motion and calculating:
The process of analyzing virtual grasped object, can divide four kinds of situation the reciprocal process of virtual hand and object:
Referring to Fig. 1 a, finger never contacts object to the contact object to this lateral movement of object;
Referring to Fig. 1 b, behind the contact object, if there is not force feedback equipment to stop operator's hand to continue motion, virtual finger will move to interior of articles;
Referring to Fig. 1 c, contact object defensive position is pointed to and is deviated from the motion of object direction, unclamps object and separates with object;
Referring to Fig. 1 d, finger motion moves to deviating from the object direction behind interior of articles, but finger still continues to contact at interior of articles and with object.
Through angle α is that the finger motion direction is judged at acute angle or obtuse angle, and angle α is defined as the angle between finger tips CD motion vector and the last finger tips CD and the body surface contact position method vector.
Referring to Fig. 1 a; Point in the expression grasping process and contact with object; But do not enter into interior of articles; Contact point is P0, and contact point place normal vector is
Referring to Fig. 1 b; Expression finger CD contact object continued is to this side direction motion (grasping object) of object; Finger CD moves to interior of articles P1 place, and the angle when finger tips motion vector
contacted with the last time between the normal vector
at contact point place is the obtuse angle;
Referring to Fig. 1 c; Change direction behind the expression finger CD contact object; Move to the P1 place to deviating from the object direction, the angle when finger tips motion vector
contacted with the last time between the normal vector
at contact point place is an acute angle;
Referring to Fig. 1 d; After moving to interior of articles P1, expression finger CD changes direction; Move to the P2 place to deviating from the object direction, the angle when finger tips motion vector
contacted with the last time between the normal vector
at contact point place is an acute angle.
For example, point relative object two direction of motion are arranged: to this lateral movement of object, deviate from object of which movement; Through angle α is that this two direction of motion are judged at acute angle or obtuse angle.Angle α is defined as: the angle between finger tips CD motion vector and the last finger tips CD and the body surface contact position method vector.
The calculating of angle α is calculated through vector
and
vector dot (formula (1)), calculates shown in formula (2) like angle α.
When angle α is 0 °; Promptly vector
is a null vector; The expression finger does not move with respect to former frame at this frame, and finger keeps contacting with object (former frame contact).When angle α was 90 °, vector
was vertical with
; Possibly there is vertical situation in finger CD in this side direction of object moves (grasping object) process with in deviating from object direction motion (unclamping object) process; But, when finger with after object contacts, not allowing to point has big like this motion amplitude, in actual computation, this value can not occur; In operating process, if this occurs, it is handled as the situation of unclamping object.When angle
and
, be that acute angle or obtuse angle are judged according to angle α.
Logic reasoning: according to finger motion direction and previous frame contact situation judge finger whether with the object contact method.
According to angle α is the direction of motion that finger is judged at acute angle or obtuse angle; Whether combine the collision situation of previous frame to carry out reasoning from logic then draws finger and contacts with object; Method is: if previous frame contacts, if angle α is the obtuse angle, show that then finger is to this side direction motion of object; Finger continues to contact with object, and this frame does not carry out the collision detection on basis and calculates; If angle α is an acute angle, then show finger to deviating from the motion of object direction, this frame need carry out the collision detection on basis and calculate, and record collision detection result also is provided with the collision detection sign; If previous frame is contact not, this frame need carry out collision detection and calculate, and record collision detection result also is provided with the collision detection sign.
Referring to Fig. 2, the collision checking method of judging based on the finger motion direction comprises the steps:
Step 201, the finger contact mark is " mistake ", obtains and write down last finger tips position;
Current finger tips position is obtained and write down to step 202;
Step 203 judges whether the finger contact mark is " correctly "; Otherwise execution in step 208;
Step 204, according to method vector N with calculate angle α, judge the finger motion direction, wherein method vector N is finger tips position, current finger tips position-last time;
Step 205 judges whether finger shifts to object, otherwise execution in step 208;
Step 206 is provided with the finger contact mark and is " correctly ";
Step 207 covers finger tips position last time with current finger tips position, and execution in step 202;
Step 208, finger and object collision detection computations;
Step 209, record collision detection result is provided with the finger contact mark, and execution in step 207.
The collision detection of virtual hand grasping object process is used:
The situation that is applied to the situation of single finger being carried out reasoning from logic on 5 fingers in the grasping emulation can draw the collision detection application in the virtual hand grasping dummy object process.
Referring to Fig. 3, the collision detection implementation method of virtual hand grasping dummy object comprises the steps:
Step 301, a finger in judging 5; Judge for the first time a finger, carry out the judgement of another finger after the completion following steps;
Step 302 is obtained the current terminal position of finger;
Step 303 judges whether the finger contact mark is " correctly "; Otherwise execution in step 208;
Step 304, according to method vector N with calculate angle α, judge the finger motion direction, wherein method vector N is finger tips position, current finger tips position-last time;
Step 305 judges whether finger shifts to object, otherwise execution in step 308;
Step 306, finger continue to contact with object, do not carry out the collision detection on basis;
Step 307 covers finger tips position last time with current finger tips position, and execution in step 301;
Step 308 is pointed with object Opcode collision detection and is calculated;
Step 309 is provided with the finger contact mark;
Step 310 judges whether finger contacts with object, otherwise execution in step 312;
Step 311 is calculated and record contact point coordinate normal vector; The finger contact mark is set is " correctly ", and execution in step 307;
Step 312 is not provided with the finger contact mark, and execution in step 307.
In the pseudo operation emulation of the present invention the Fast Collision Detection method of logic-based reasoning in dummy object collision detection simulation process with surface model simulation/artificial physical application of model.It is embodied in the logic reasoning.
Utilize method of the present invention can judge correctly that a dummy object enters into the situation of the situation downcrossings of another one dummy object; Because static collision checking method utilizes the tri patch whether contact is arranged between two polyhedral models to judge whether two dummy objects contact; Enter into when a dummy object that both do not have the tri patch of contact under the situation of another one dummy object; At this moment the conclusion that adopts static collision checking method to draw is that both do not have contact; But object all is a solid model in the actual life, and this testing result and reality do not meet.The method of utilizing relation between the frame to carry out reasoning from logic based on the collision detection algorithm of static state can well address this problem, and promptly calculates in the virtual collision detection that grasps in the simulation process and utilizes the solid model in the computing machine surface model simulation/emulation real world.
The present invention is directed to the characteristics that the people wears in the data glove control virtual hand grasping dummy object simulation process adopts the method for reasoning from logic to carry out the Fast Collision Detection Calculation Method.The present invention utilize data glove to operator's hand each joint motions follow the tracks of; Enforcement is to the motion control of virtual hand; Movement characteristic according to virtual hand grasping dummy object calculates angle α; Whether according to angle α is the direction of motion that each finger is judged at acute angle or obtuse angle, carries out reasoning from logic according to direction of motion, whether contact at previous frame to infer finger on the basis of situation and contact with object; Can solve virtual finger and enter into testing result and the inconsistent situation of real general knowledge that adopts static collision checking method to draw behind the interior of articles, thereby realize purpose with surface model artificial physical model.The actual collision that this method reduces between finger and the object on the whole detects number of times, improves collision detection speed.
Above embodiment describes preferred implementation of the present invention; Be not that scope of the present invention is limited; Design under the prerequisite of spirit not breaking away from the present invention; Various distortion and improvement that the common engineering technical personnel in this area make technical scheme of the present invention all should fall in the definite protection domain of claims of the present invention.
Claims (10)
1. the Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation is characterized in that, may further comprise the steps:
Utilize data glove to operator's hand each joint motions follow the tracks of, implement motion control to virtual hand;
Position relation during according to virtual hand grasping dummy object between virtual hand and the dummy object; Calculate the angle between finger tips motion vector and the last finger tips and the body surface contact position method vector, judge the direction of motion of each finger according to said angle;
Carry out reasoning from logic according to the finger motion direction; Whether the reasoning finger contacts with object on the basis whether previous frame contacts, and finger contacts with object, and this frame does not carry out the collision detection on basis and calculates; Finger does not contact with object, and this frame carries out the collision detection on basis and calculates.
2. the Fast Collision Detection method of logic-based reasoning is characterized in that in the pseudo operation emulation according to claim 1, and the position relation during said virtual hand grasping dummy object between virtual hand and the dummy object comprises:
Finger never contacts object to the contact object to this lateral movement of object;
Behind the contact object, if there is not force feedback equipment to stop operator's hand to continue motion, virtual finger will move to interior of articles;
Contact object defensive position is pointed to and is deviated from the motion of object direction, unclamps object and separates with object;
Finger motion moves to deviating from the object direction behind interior of articles, but finger still continues to contact at interior of articles and with object.
3. the Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation according to claim 2; It is characterized in that the step of the said direction of motion of judging each finger according to said angle is for being the direction of motion that each finger is judged at acute angle or obtuse angle according to said angle.
4. the Fast Collision Detection method of logic-based reasoning is characterized in that in the pseudo operation emulation according to claim 3, and the computing formula of said angle is:
Wherein
is the finger tips motion vector;
is the normal vector at contact point place, and α is an angle.
5. the Fast Collision Detection method of logic-based reasoning in the pseudo operation emulation according to claim 4; It is characterized in that; Saidly carry out reasoning from logic, whether contact at previous frame and infer the step whether finger contact with object on the basis of situation and comprise according to the finger motion direction:
If previous frame contacts, if angle α is the obtuse angle, then show finger to this side direction motion of object, finger continues to contact with object, and this frame does not carry out the collision detection on basis and calculates;
If angle α is an acute angle, then show finger to deviating from the motion of object direction, this frame need carry out the collision detection on basis and calculate, and record collision detection result also is provided with the collision detection sign; If previous frame is contact not, this frame need carry out collision detection and calculate, and record collision detection result also is provided with the collision detection sign.
6. the Fast Collision Detection method of logic-based reasoning is characterized in that in the pseudo operation emulation according to claim 5, and the collision checking method of judging according to the finger motion direction comprises the steps:
(1) the finger contact mark is " mistake ", obtains and write down last finger tips position;
(2), obtain and write down current finger tips position;
(3), judge whether the finger contact mark is " correctly "; Otherwise execution in step (8);
(4), according to method vector N with calculate angle α, judge the finger motion direction, wherein method vector N is finger tips position, current finger tips position-last time;
(5), judge whether finger shifts to object, otherwise execution in step (8);
(6), the finger contact mark is set and is " correctly ";
(7), current finger tips position is covered finger tips position last time, and execution in step (2);
(8), finger and object collision detection computations;
(9), record collision detection result is provided with the finger contact mark, and execution in step (7).
7. the Fast Collision Detection method of logic-based reasoning is characterized in that in the pseudo operation emulation according to claim 6, and the collision detection implementation method of virtual hand grasping dummy object comprises the steps:
(1), in 5 fingers of judgement;
(2), obtain the current terminal position of finger;
(3), judge whether the finger contact mark is " correctly "; Otherwise execution in step (8);
(4), according to method vector N with calculate angle α, judge the finger motion direction, wherein method vector N is finger tips position, current finger tips position-last time;
(5), judge whether finger shifts to object, otherwise execution in step (8);
(6), finger continues to contact with object, does not carry out the collision detection on basis;
(7), current finger tips position is covered finger tips position last time, and execution in step (1);
(8), point and the object collision detection computations;
(9), the finger contact mark is set;
(10), judge whether finger contacts with object, otherwise execution in step (12);
(11), calculate and record contact point coordinate normal vector; The finger contact mark is set is " correctly ", and execution in step (7); (12), the finger contact mark is not set, and execution in step (7).
8. the Fast Collision Detection method of logic-based reasoning is characterized in that in the pseudo operation emulation according to claim 7, and said data glove adopts CyberGlove.
9. the Fast Collision Detection method of logic-based reasoning is characterized in that in the pseudo operation emulation according to claim 8, and said data glove is provided with 22 sensors.
10. the Fast Collision Detection method of logic-based reasoning is characterized in that in the pseudo operation emulation according to claim 9, and said dummy object is with surface model simulation/artificial physical model.
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| CN103472920A (en) * | 2013-09-13 | 2013-12-25 | 通号通信信息集团有限公司 | Action-recognition-based medical image control method and system |
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