CN104616335B - A kind of three-dimensional character circulates the method for automatically accumulating of animation - Google Patents
A kind of three-dimensional character circulates the method for automatically accumulating of animation Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T13/00—Animation
- G06T13/20—3D [Three Dimensional] animation
- G06T13/40—3D [Three Dimensional] animation of characters, e.g. humans, animals or virtual beings
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Abstract
The invention discloses the method for automatically accumulating that a kind of three-dimensional character circulates animation, concretely comprise the following steps：Three-dimensional character model for having completed bone binding, using role's belly central point as the origin of coordinates, calculates the corresponding controller C in each position of rolekRelative position Qk；Equidistantly sampled along role's mobile route S, calculate the normal N of each sample point path curvenWith tangent line Tn；According to the NnWith tangent line Tn, calculate the rotational transformation matrix M between continuous two sampled pointsn；Based on the MnAnd Qk, calculate the corresponding controller C in each position of three-dimensional characterkStride transformation factor Stepn；According to the stride transformation factor Stepn, calculate the corresponding controller C in each position of rolekDisplacement and rotation animation data after considering that stride is accumulated along along mobile route S motion processes.The present invention provides efficiently automatic generation method for role common in three-dimensional animation along path animation.
Description
Technical field
The invention belongs to 3D animation design technical field, and in particular to a kind of three-dimensional character circulates the automatic accumulation of animation
Method.
Background technology
Three-dimensional animation technology, is a kind of emerging technology produced recently as the development of computer hardware technique,
The three-dimensional animation or video display basic lenses for meeting director's demand can conveniently and efficiently be produced.
The producing principle of three-dimensional animation is generally：First, using three-dimensional software (such as 3ds Max, Maya or
Houdini a virtual world) is set up in a computer；Then, scene and three is added in this virtual three-dimensional world
Tie up the threedimensional models such as cartoon character；Finally, the animation curve of setting model, the movement locus of virtual camera and other animations ginseng
Number, renders and obtains role animation.
The features such as true scene can accurately being simulated because three-dimensional animation technology possesses, be limited almost without creation, it is wide at present
It is general to be applied to the numerous areas such as amusement, education, military affairs.
For the application of entertainment field, it usually needs the cartoon figure's moulding provided according to designer, corresponding three are made
Cartoon role and bone binding system are tieed up, and by setting different key frame numerical values at different time points, so as to be allowed to have
The standby action true to nature for meeting role's personality, age or other features.
Current animation makes, and common technology is broadly divided into keyframe techniques, the motion capture technology performed based on true man, with
And the class of physical simulation techniques three.Afterwards two class technologies there is automation mechanized operation, it is quick true to nature the characteristics of, set crucial without animation teacher
Frame, saves a large amount of manpowers, but really exaggeration action is helpless for cartoon character non-physical.Making cartoon character
During animation, to save the time, animation teacher often produces the action in a cycle, then loop play, constitutes one section continuously
Animation, such as the walking of role, run, can be broken into bipod respectively step a step action cycle repeatedly.
But, only it is loop play, role can be made to mark time in situ.In addition, in order that the walking of role, the animation such as run
Seem unlike mechanical movement, it is necessary to add more variations in detail in cycle period, to make the action of role entirely move
During be not the entirely mechanical repetition previous cycle action.Currently, three-dimensional animation production instrument is not provided with perfect
Solution, it is necessary to the position of animation Shi Shoudong more new roles is as you were to avoid, it is right and according to the motion path of role
The motion at each position carries out corresponding amendment by hand with role, such as the displacement of bipod and angle change are during riding
It is slightly discrepant.There is provided a kind of quick solution party of automation for FAQs during the purpose of the present invention makes aiming at more than
Case.
The content of the invention
In view of this, it is an object of the invention to provide the method for automatically accumulating that a kind of three-dimensional character circulates animation, this method
The animation that role moves along plane upper pathway can be quickly generated.
Technical scheme is as follows：
A kind of three-dimensional character circulates the method for automatically accumulating of animation, concretely comprises the following steps：
Step one, for having completed the three-dimensional character model that bone is bound, it regard role's belly central point R as three dimensional angular
The datum mark of color model, using role's belly central point as the origin of coordinates, calculates the corresponding controller C in each position of rolekPhase
To position Qk, k=0,1,2 ... K-1, K is the sum of controller, the relative position QkTo make with role's belly central point
To be calculated under the coordinate system of the origin of coordinates；Equidistantly sampled along role's mobile route S, calculate each sample point path bent
The normal N of linenWith tangent line Tn；
S101, the foot made according to animation teacher circulate the stride in animation, obtain three-dimensional character and circulate animation at one
Each displacement stepped after a step of displacement d in cycle, i.e. left and right pin；
S102, set three-dimensional character mobile route S length as L, then N=L/d be mobile route on sampled point quantity,
Sampling equidistantly for d is carried out on mobile route S, sampled point S is obtainedn；
Step 2, according to the NnWith tangent line Tn, calculate the rotational transformation matrix M between continuous two sampled pointsn；It is based on
The rotational transformation matrix MnController C corresponding with each positionkRelative position Qk, calculate each position of three-dimensional character corresponding
Controller CkStride transformation factor Stepn, comprise the following steps that：
1) sampled point S is calculatednLocate tangent line vector TnRelative to sampled point Sn-1Locate tangent line vector Tn-1Rotational transformation matrix
Mn；
2) the corresponding controller C in each position of three-dimensional character is calculatedkIn sampled point SnPlace is relative to sampled point Sn-1The position at place
Move deltaPn=Mn·Qk+(Pn-Pn-1).Then sampled point SnThe stride transformation factor Step at placen=| deltaPn|/d；
Step 3, according to the stride transformation factor Stepn, calculate the corresponding controller C in each position of rolekMoved on edge
The displacement after stride accumulation and rotation animation data are considered in dynamic path S motion processes；
Further, the process of step 3 of the present invention is：
301st, calculate role along mobile route S move t when role's belly central point R phase information phi and position
Confidence ceases Pt；
302nd, based on the phase information phi and positional information Pt, according to stride transformation factor StepnCalculate three-dimensional character
In the corresponding controller C in each positionkDisplacement coordinate in t；
303rd, according to the phase phi, the corresponding controller C in each position in three-dimensional character is calculatedkRotation in t
Turn.
Further, each position is divided into noncontact surface location in step 303 of the present invention and contacts ground
Position；
Calculate the corresponding controller C in position on noncontact ground in three-dimensional characterk1Rotating to be in t：
If three-dimensional character is located at sampled point S in tmAnd Sm+1Between, wherein m=Floor [t/Tc], Floor represents to take
Integral function, t role is circulating the phase phi=t/Tc-Floor [t/Tc] in animation cycle Tc, right according to phase phi
Sampled point SmWith sampled point Sm+1The rotational transformation matrix M at placemAnd Mm+1Enter row interpolation, obtain the rotational transformation matrix M of tt,
Utilize MtTo controller Ck1Carry out rotation transformation.
Calculate the corresponding controller C in position that ground is contacted in three-dimensional characterk2Rotating to be in t：
First, obtain in a circulation animation cycle, the time Tt on sole or toes make contact ground, calculate in sole or
In the time Tt on toes make contact ground, three-dimensional character moves completed rotational transformation matrix M ' along mobile route, calculates M's '
Inverse-transform matrix M-1；Needed to set a time range T according to animationr, make inverse-transform matrix M-1In TrGradually become in time
Unit matrix I, obtains TrThe inverse-transform matrix M at each moment in timej -1；
Then, situation is divided to calculate sole or the corresponding controller C of toek2In the rotational transformation matrix M of tt；
If 1) t, sole or toes make contact ground, now MtFor unit matrix；
If 2) t, sole or toe have contact not in contact with ground and last moment, mark current time is T0, press
According to the M at the position on noncontact groundtCalculation, calculates the rotational transformation matrix M of ttemp, now MtFor Mtemp+M-1；
If 3) t, sole or toe are not in contact with ground and t in time range TrIt is interior, then according to t distance
T0Time in TrInterior relative value, obtains the inverse-transform matrix M of tj -1, now MtFor Mtemp+Mj -1；
4) when t is not belonging to above three kinds of situations, now according to noncontact ground position MtCalculation, meter
Calculate the rotationally-varying matrix M of tt。
Finally utilize MtTo sole or the controller C of toek2Carry out rotation transformation.
Further, present invention additionally comprises the motion addition amplitude or phase place change for role's upper part of the body in circulation animation；
Process is：
Obtain controller C above the waist corresponding to each position in the circulation animationk3Each property value v, then carry out A × v+
B linear transformation；
If that v is represented is Ck3Displacement, then A be exactly movement range conversion multiple, b is the skew of displacement；If v
That represent is Ck3Rotation, then A is exactly the multiple of rotational steps, and b is exactly the skew of the anglec of rotation.
Beneficial effect：
1st, the present invention only needs animation teacher to provide the circulation animation in a cycle, can fast and automatically generate three-dimensional character
Path animation, and avoid sliding steps phenomenon.
2nd, the present invention is divided into sole or toe-off ground with contacting a variety of situations such as ground, carries out rotation to it respectively dynamic
Draw, using the teaching of the invention it is possible to provide the fine detail that step is moved in circulation animation.
3rd, the present invention can carry out details adjustment to the animation for each cycle period for constituting path animation, so that role
Path animation appear not to be machinery repetition.
Brief description of the drawings
Fig. 1 is the flow chart for the method for automatically accumulating that three-dimensional character of the present invention circulates animation.
Embodiment
The present invention is described in detail with instantiation below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of three-dimensional character of the invention circulates the method for automatically accumulating of animation, concretely comprise the following steps：
Step one, for having completed the three-dimensional character model that bone is bound, it regard role's belly central point R as three dimensional angular
The datum mark of color model, using role's belly central point as the origin of coordinates, calculates the corresponding controller C in each position of rolekPhase
To position Qk, k=0,1,2 ... K-1, K is the sum of controller, the relative position QkTo make with role's belly central point
To be calculated under the coordinate system of the origin of coordinates；Equidistantly sampled along role's mobile route S, calculate each sample point path bent
The normal N of linenWith tangent line Tn。
S101, in 0 frame, if three-dimensional character be located at mobile route S starting point, using role's belly center as
Origin of coordinates R, calculates the coordinate vector Q of the corresponding controller in each position of rolek, k=0,1,2 ... K-1, K is controller
Sum.
S102, the foot made according to animation teacher circulate the stride in animation, obtain three-dimensional character and circulate animation at one
Each displacement stepped after a step of displacement d in cycle, i.e. left and right pin；And it is circulation animation to obtain the cycle T c, Tc of circulation animation
Overall duration.
S103, set three-dimensional character mobile route S length as L, then N=L/d be mobile route on sampled point quantity.
Sampling equidistantly for d is carried out on mobile route S, sampled point S is obtainedn, its position is Pn；Calculate cutting for each sample point
Line vector is TnAnd normal vector Nn, wherein n=0,1,2 ... N-1.Assuming that Tn=(a, b, c), then Nn=(b ,-a, 0).
Here all vectors have done normalized.
Step 2, according to the NnWith tangent line Tn, calculate the rotational transformation matrix M between continuous two sampled pointsn；It is based on
The rotational transformation matrix MnController C corresponding with each positionkRelative position Qk, calculate each position of three-dimensional character corresponding
Controller CkStride transformation factor Stepn.Comprise the following steps that：
1) sampled point S is calculatednLocate tangent line vector TnRelative to sampled point Sn-1Locate tangent line vector Tn-1Rotational transformation matrix
Mn。
2) the corresponding controller C in each position of three-dimensional character is calculatedkIn sampled point SnPlace is relative to sampled point Sn-1The position at place
Move deltaPn=Mn·Qk+(Pn-Pn-1).Then sampled point SnThe stride transformation factor Step at placen=| deltaPn|/d。
Step 3, according to the stride transformation factor Stepn, calculate the corresponding controller C in each position of rolekMoved on edge
The displacement after stride accumulation and rotation animation data are considered in dynamic path S motion processes.Comprise the following steps that：
(1), calculate role along mobile route S move t when role's belly central point R positional information Pt and three-dimensional
Role circulates the phase information phi of animation.
If three-dimensional character is located at sampled point S in tmAnd Sm+1Between, wherein m=Floor [t/Tc], Floor represents to take
Integral function, phase phi=t/Tc-Floor [t/Tc] of the t role in circulation animation cycle.
According to phi, Pm, Pm+1, and Pm+2, using secondary Bezier, t R positional information Pt can be obtained.
Computational methods are, if connection Sm, Sm+1, and Sm+2Piecewise function B (x) be
B (x)=(1-x)2Pm+2x(1-x)Pm+1+x2Pm+2
Pt=B (phi/2)
Wherein, parameter x spans are [0,1], and expression is three-dimensional character in t from SmTo Sm+2Two follow
Phase information in ring animation cycle, because above-mentioned phi is three-dimensional character in t from SmTo Sm+1One circulation animation cycle
Interior phase information, so in t x=phi/2.
Automatic accumulation in order to realize three-dimensional character circulation animation needs to obtain to become in moment t displacement coordinate and rotation
Change, the automatic accumulation of three-dimensional character circulation animation could be controlled according to the displacement coordinate and rotation transformation.
(2) the corresponding controller C in each position in three-dimensional character, is calculatedkX, y-coordinate in t.
Calculate t CkRelative time Tr=phi × Tc in circulation animation cycle Tc, according to C in circulation animationk's
Displacement animation curve, obtains Tr moment CkDisplacement (x, y), calculate the shift value (x, y) considered after accumulative effect, wherein
X ,=x × Stepn+ Pt, y ,=y × Stepn+Pt.Because motion of the present invention only for three-dimensional character on flat ground, institute
With controller CkIn the animation data perpendicular to ground direction and unaffected.
(3) the corresponding controller C in each position in noncontact ground in three-dimensional character, is calculatedk1Rotation transformation in t.
According to phase phi, to sampled point SmWith sampled point Sm+1The rotational transformation matrix M at placemAnd Mm+1Enter row interpolation, obtain the rotation of t
Turn transformation matrix Mt, utilize MtTo controller Ck1Carry out rotation transformation.
(4) calculating has the corresponding controller C of contact surface location in three-dimensional characterk2Rotation transformation in t.These
Position includes sole and toe, and they need contact ground to provide the power of advance during walking and running, so
Do not rotated in the time for contacting ground, and can then there be the change of rotation at other positions of three-dimensional character body with mobile route curve
Change.
First, obtain in a circulation animation cycle, the time Tt on sole or toes make contact ground, calculate in sole or
In the time Tt on toes make contact ground, three-dimensional character moves completed rotational transformation matrix M ' along mobile route, then calculates
Go out M ' inverse-transform matrix M-1.Needed to set a time range T according to animationr, sole or toe are by after ground is left
Above-mentioned TrProgressively keep up with the rotation of body in time, therefore by inverse-transform matrix M-1In TrUnit matrix I is gradually become in time,
And obtain TrThe inverse-transform matrix M at each moment in timej -1,
Then, four kinds of situations are divided to calculate sole or the corresponding controller C of toek2In the rotational transformation matrix M of tt.Institute
The division of four kinds of situations is stated, is that other positions do not rotate with body when contacting ground in order to ensure sole or toe, but
Being can be in T after liftoffrThe difference in the anglec of rotation with other positions of body is progressively made up in time, in TrAfter time then with
With other position synchronous rotaries.
If 1) t, sole or toes make contact ground, now MtFor unit matrix.
If 2) t, sole or toe have contact not in contact with ground and last moment, mark current time is T0, root
The rotational transformation matrix M of t is calculated according to the method in step (3)temp, now MtFor Mtemp+M-1。
If 3) t, sole or toe are not in contact with ground and t in time range TrIt is interior, then need according to t away from
From T0Time in TrInterior relative value, obtains the inverse-transform matrix M of tj -1, now MtFor Mtemp+Mj -1。
4) when t is not belonging to above three kinds of situations, now MtTo calculate rotationally-varying square according to the method in step (3)
Battle array Mt。
Finally utilize MtTo controller Ck2Carry out rotation transformation.
In order that the effect of circulation animation seems more life-like, the path animation of role is set to appear not to be the weight of machinery
It is multiple, the step of adding amplitude or phase place change present invention additionally comprises the motion to role's upper part of the body four.
Step 4, for the motion addition amplitude or phase place change of role's upper part of the body in circulation animation.
Principle is to obtain the controller C in the circulation animation above the waist corresponding to each positionk3Each property value v, Ran Houjin
Row A × v+b linear transformation.
If that v is represented is Ck3Displacement, then A be exactly movement range conversion multiple, b is the skew of displacement.If v
That represent is Ck3Rotation, then A is exactly the multiple of rotational steps, and b is exactly the skew of the anglec of rotation.It is noted here that
It is that, if the property value of controller is vector, conversion needs the important conversion simultaneously of institute to the vector, such as P represents position
Move vector, then conversion needs the x to P, and y, the component of z-axis all enters line translation.
The present invention can add up the single cycle animation data of input automatically, be moved on the ground so as to produce step
Rather than the effect of sliding steps, and the function for circulation animation addition amplitude or phase place change has been carried, make the animation in each cycle
It is not quite similar.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention's
Within protection domain.
Claims (3)
1. a kind of three-dimensional character circulates the method for automatically accumulating of animation, it is characterised in that concretely comprise the following steps：
Step one, for having completed the three-dimensional character model that bone is bound, it regard role belly central point R as three-dimensional character mould
The datum mark of type, using role's belly central point as the origin of coordinates, calculates the corresponding controller C in each position of rolekRelative position
Put Qk, k=0,1,2 ... K-1, K is the sum of controller, the relative position QkTo be used as seat using role's belly central point
Mark and calculated under the coordinate system of origin；Equidistantly sampled along role's mobile route S, calculate each sample point path curve
Normal NnWith tangent line Tn；
S101, the foot made according to animation teacher circulate the stride in animation, obtain three-dimensional character and circulate animation cycle at one
Each displacement stepped after a step of interior displacement d, i.e. left and right pin；
S102, set three-dimensional character mobile route S length as L, then N=L/d be mobile route on sampled point quantity, move
Sampling equidistantly for d is carried out on dynamic path S, sampled point S is obtainedn；
Step 2, according to the NnWith tangent line Tn, calculate the rotational transformation matrix M between continuous two sampled pointsn；Based on described
Rotational transformation matrix MnController C corresponding with each positionkRelative position Qk, calculate the corresponding control in each position of three-dimensional character
Device CkStride transformation factor Stepn, comprise the following steps that：
1) sampled point S is calculatednLocate tangent line vector TnRelative to sampled point Sn-1Locate tangent line vector Tn-1Rotational transformation matrix Mn；
2) the corresponding controller C in each position of three-dimensional character is calculatedkIn sampled point SnPlace is relative to sampled point Sn-1The displacement at place
deltaPn=Mn〃Qk+(Pn-Pn-1)；Then sampled point SnThe stride transformation factor Step at placen=| deltaPn|/d；
Step 3, according to the stride transformation factor Stepn, calculate the corresponding controller C in each position of rolekAlong moving road
The displacement after stride accumulation and rotation animation data are considered in the S motion processes of footpath；
The process of the step 3 is：
301st, calculate role along mobile route S move t when role's belly central point R phase information phi and position believe
Cease Pt；
302nd, based on the phase information phi and positional information Pt, according to stride transformation factor StepnCalculate each in three-dimensional character
The corresponding controller C in positionkDisplacement coordinate in t；
303rd, according to the phase phi, the corresponding controller C in each position in three-dimensional character is calculatedkRotation in t.
2. three-dimensional character circulates the method for automatically accumulating of animation according to claim 1, it is characterised in that the step 303
The middle position that each position is divided into noncontact surface location and contact ground；
Calculate the corresponding controller C in position on noncontact ground in three-dimensional characterk1Rotating to be in t：
If three-dimensional character is located at sampled point S in tmAnd Sm+1Between, wherein m=Floor [t/Tc], Floor represents to round letter
Number, phase phi=t/Tc-Floor [t/Tc] of the t role in circulation animation cycle Tc, according to phase phi, to sampling
Point SmWith sampled point Sm+1The rotational transformation matrix M at placemAnd Mm+1Enter row interpolation, obtain the rotational transformation matrix M of tt, utilize
MtTo controller Ck1Carry out rotation transformation；
Calculate the corresponding controller C in position that ground is contacted in three-dimensional characterk2Rotating to be in t：
First, obtain in a circulation animation cycle, the time Tt on sole or toes make contact ground is calculated in sole or toe
In the time Tt for contacting ground, three-dimensional character moves completed rotational transformation matrix M ' along mobile route, calculates M ' inversion
Change matrix M-1；Needed to set a time range T according to animationr, make inverse-transform matrix M-1In TrUnit is gradually become in time
Matrix I, obtains TrThe inverse-transform matrix M at each moment in timej -1；
Then, situation is divided to calculate sole or the corresponding controller C of toek2In the rotational transformation matrix M of tt；
If 1) t, sole or toes make contact ground, now MtFor unit matrix；
If 2) t, sole or toe have contact not in contact with ground and last moment, mark current time is T0, connect according to non-
The M at the position of tread surfacetCalculation, calculates the rotational transformation matrix M of ttemp, now MtFor Mtemp+M-1；
If 3) t, sole or toe are not in contact with ground and t in time range TrIt is interior, then according to t apart from T0's
Time is in TrInterior relative value, obtains the inverse-transform matrix M of tj -1, now MtFor Mtemp+Mj -1；
4) when t is not belonging to above three kinds of situations, now according to noncontact ground position MtCalculation, when calculating t
The rotationally-varying matrix M carvedt；
Finally utilize MtTo sole or the controller C of toek2Carry out rotation transformation.
3. according to claim 1 three-dimensional character circulate animation method for automatically accumulating, it is characterised in that also including for circulation
The motion addition amplitude or phase place change of role's upper part of the body in animation；Process is：
Obtain controller C above the waist corresponding to each position in the circulation animationk3Each property value v, then carry out A × v+b
Linear transformation；
If that v is represented is Ck3Displacement, then A be exactly movement range conversion multiple, b is the skew of displacement；If v is represented
Be Ck3Rotation, then A is exactly the multiple of rotational steps, and b is exactly the skew of the anglec of rotation.
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| CN106097416A (en) * | 2016-06-12 | 2016-11-09 | 天脉聚源（北京）教育科技有限公司 | A kind of method and device that object mobile route is set |
| CN108073861B (en) * | 2016-11-16 | 2020-05-15 | 东北大学秦皇岛分校 | Novel abnormal gait analysis method and system |
| CN111273780B (en) * | 2020-02-21 | 2021-09-28 | 腾讯科技（深圳）有限公司 | Animation playing method, device and equipment based on virtual environment and storage medium |
| CN113963090A (en) * | 2021-10-20 | 2022-01-21 | 李舟 | Maya animation role footstep fixing tool |
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| CN101549207A (en) * | 2008-04-04 | 2009-10-07 | 株式会社万代南梦宫游戏 | Game movie distribution method and system |
| CN101595510A (en) * | 2006-11-15 | 2009-12-02 | Iam集团公司 | Be used to create, make and the method for distributing three-dimensional models |
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| US5594856A (en) * | 1994-08-25 | 1997-01-14 | Girard; Michael | Computer user interface for step-driven character animation |
| CN101595510A (en) * | 2006-11-15 | 2009-12-02 | Iam集团公司 | Be used to create, make and the method for distributing three-dimensional models |
| CN101549207A (en) * | 2008-04-04 | 2009-10-07 | 株式会社万代南梦宫游戏 | Game movie distribution method and system |
| CN103514622A (en) * | 2012-06-29 | 2014-01-15 | 甲尚股份有限公司 | System and method for automatically adapting gait of virtual character to terrain |
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