CN105205848A - 3D anthropometric dummy animation logical import process and method - Google Patents

Abstract

The invention discloses a 3D anthropometric dummy animation logical import process and method. The process and method comprise the steps of A, acquiring point sets of the limbs and trunk in a human body 3D model data file and the center line of each point set; B, determining the movements the limbs or trunk is going to make, and decomposing the movements into the displacement distance and rotating angle of the point set of the limbs or trunk; C, converting the rotating angle in the step B into the center line rotating euler angle of the point set of the limbs or trunk by means of the euler angle principle; D, decomposing the displacement distance in the step B into the displacement in the X direction, the displacement in the Y direction and the displacement in the Z direction, and obtaining the coordinate change of points in the point set of the limbs or trunk in the X direction, Y direction and Z direction so as to change the coordinates of points in the point set of the limbs or trunk. According to the process and method, based on the 3D scanning technique, by means of the characteristics of human body 3D model data, the euler angle principle is introduced into the human body 3D model three-dimensional motion control process, the steps are simplified, and complicated 3D motion control can be achieved through simple calculation or manual work.

Description

A kind of 3D manikin animation logic importing process and method

Technical field

The present invention relates to human body 3D model data collecting and application, refer in particular to a kind of 3D manikin animation logic importing process and method.

Background technology

The develop rapidly of modern science and technology, and the technological breakthrough in the fields such as 3D data acquisition application such as 3D scanning, printing, solid foundation has been established to the application development of 3D model data, human body model data belongs to the one in 3D model data, it is widely used in clothes, animation, the field such as human engineering and medical science, it is development human body (face) pattern-recognition, high-performance apparel design (as Aero-Space clothes, diving suit), human body special equipment (human body artificial limb, personalized weaponry), and carry out the ideal tools of human engineering research; Human body 3D scanning technique obtains complete, meticulous human body model data, and it is stored in the instruments such as computing machine with the data file of certain format.

When human body 3D model data is used for animation and 3D field of play, need control 3D human movement model, existing game movie model adopts the mode of artificial modeling to obtain 3D model, 3D model is obtained as by softwares such as 3dmax, maya, 3dbuilder, again by the motion of the technical controlling 3D models such as unity3, but the object that is suitable for of this kind of technology is the 3D model obtained by artificial modeling, the movement control technology carried out for the true man's human body 3D model obtained by 3D scanning technique still belongs to blank at home.

Summary of the invention

The technical problem to be solved in the present invention is for above-mentioned the deficiencies in the prior art, a kind of true man 3D model data obtained based on 3D body scanning techniques is provided, and by the four limbs of this true man's human body 3D model data and the center line of trunk, then realize manikin animation logic importing process that true man's human body 3D model is moved in three dimensions and method.

The technical scheme that the present invention takes is as follows: a kind of 3D manikin animation logic importing process and method, comprise the following steps:

A. four limbs in human body 3D model data file and the point set of trunk and the center line of point set is obtained, so that according to four limbs or trunk center line determination four limbs or trunk movement angle, and by the coordinate control four limbs of the some centrostigma that changes four limbs or trunk or the motion of trunk point set in three dimensions;

B. determine the action that four limbs or trunk will do, and be shift length and the anglec of rotation of four limbs or trunk point set by this movement decomposition;

C. the center line utilizing Eulerian angle principle the anglec of rotation in step B to be converted into four limbs or trunk point set rotates Eulerian angle, and the coordinate transform amount of Eulerian angle determination four limbs or trunk point centrostigma is rotated by center line, the coordinate changing four limbs or trunk point centrostigma by coordinate transform amount realizes the rotation of four limbs or trunk;

D. the shift length in step B is decomposed into the displacement of X, Y, Z-direction, obtain point that four limbs or trunk point the concentrate coordinate knots modification in X, Y, Z-direction, changed the coordinate of four limbs or trunk point centrostigma by this coordinate knots modification, realize the displacement of four limbs or trunk.

Preferably, described step C comprises:

C1. according to beginning position of rotation and the final position of rotation of the anglec of rotation determination four limbs in step B or trunk center line;

C2. the beginning position of rotation in step C1 and the rotation angle between final position of rotation are decomposed into the rotation Eulerian angle of X, Y, Z-direction;

C3. the rotation Eulerian angle of X, Y, Z-direction in step C2 are divided in order successively the sub-Eulerian angle of multiple X, Y, Z-direction, obtain multiple X, Y, the subcoordinate converted quantity of Z-direction record accordingly;

C4. within the identical unit execution time, with the sub-Eulerian angle in step C3 for scale successively rotates the center line of four limbs or trunk, the coordinate controlling to put in four limbs or trunk point set by subcoordinate converted quantity accordingly successively changes, until revolve the final position of rotation gone to step in C1, complete the spinning movement of four limbs or trunk point set.

Preferably, described step D comprises:

D1. the shift length in step B is decomposed into the displacement of X, Y, Z-direction, and obtains the coordinate knots modification of X, Y, Z-direction respectively;

D2. the coordinate controlling point in four limbs or trunk point set changes according to the coordinate knots modification of the X in step D1, Y, Z-direction, complete the displacement action of four limbs or trunk, and the spinning movement in step C4 merges, and completes four limbs or the motion of trunk point set in three dimensions.

Beneficial effect of the present invention is:

Further, the present invention carries out expansion research and development on the basis of 3D scanning technique, true man's human body 3D model data is obtained by 3D scanning technique, the form of this data file is obj, the storage principle of obj file is and is placed in three-dimensional system of coordinate by true man's human body 3D model, and be that the form of the point set in three-dimensional system of coordinate is represented by this true man's human body 3D model conversation, and each point that point is concentrated all has its unique three-dimensional coordinate in three-dimensional system of coordinate, therefore in fact this file be by true man's human body 3D model conversation be with coordinate point set store in a computer, so that follow-up use, true man's human body 3D model forms its outer shape structure by multiple point set formed, first the present invention obtains the true man's human body 3D model data obj file scanning and obtain, then, to represent in obj file that the articulation point of human limb and trunk finds, and by articulation point determination four limbs or trunk point set, and the center line of four limbs or trunk point set, four limbs or trunk motion are in three dimensions converted to the change of the some coordinate in three-dimensional system of coordinate in four limbs or trunk point set by the principle that can be beneficial to Eulerian angle after determining the center line of four limbs or trunk, thus only need the coordinate by controlling four limbs or trunk point centrostigma can realize the control of moving in three dimensions to true man's human body 3D model.The present invention, based on 3D scanning technique, is beneficial to the characteristic of human body 3D model data, and Eulerian angle principle introduced in human body 3D model three-dimensional motion control procedure, its step is simplified, simply to calculate or to be manually responsible for completing complicated 3D motion control.

Accompanying drawing explanation

Fig. 1 is steps flow chart schematic diagram of the present invention.

Fig. 2 is the center line motion schematic diagram in three dimensions of four limbs of the present invention or trunk point set.

Fig. 3 is Eulerian angle schematic diagram calculation of the present invention.

The knots modification schematic diagram of Fig. 4 to be the present invention by the Kinematic Decomposition of the center line of four limbs in Fig. 2 or trunk point set be Z-direction of three-dimensional system of coordinate.

Fig. 5 is the present invention by the Kinematic Decomposition of the center line of four limbs in Fig. 2 or trunk point set is the X-axis of three-dimensional system of coordinate and the knots modification schematic diagram of Y direction.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described:

As shown in Figures 1 to 5, the technical scheme that the present invention takes is as follows: a kind of 3D manikin animation logic importing process and method, comprise the following steps:

A. four limbs in human body 3D model data file and the point set of trunk and the center line of point set is obtained, so that according to four limbs or trunk center line determination four limbs or trunk movement angle, and by the coordinate control four limbs of the some centrostigma that changes four limbs or trunk or the motion of trunk point set in three dimensions;

B. determine the action that four limbs or trunk will do, and be shift length and the anglec of rotation of four limbs or trunk point set by this movement decomposition;

C. the center line utilizing Eulerian angle principle the anglec of rotation in step B to be converted into four limbs or trunk point set rotates Eulerian angle, and the coordinate transform amount of Eulerian angle determination four limbs or trunk point centrostigma is rotated by center line, the coordinate changing four limbs or trunk point centrostigma by coordinate transform amount realizes the rotation of four limbs or trunk;

D. the shift length in step B is decomposed into the displacement of X, Y, Z-direction, obtain point that four limbs or trunk point the concentrate coordinate knots modification in X, Y, Z-direction, changed the coordinate of four limbs or trunk point centrostigma by this coordinate knots modification, realize the displacement of four limbs or trunk.

Preferably, described step C comprises:

C1. according to beginning position of rotation and the final position of rotation of the anglec of rotation determination four limbs in step B or trunk center line;

C2. the beginning position of rotation in step C1 and the rotation angle between final position of rotation are decomposed into the rotation Eulerian angle of X, Y, Z-direction;

C3. the rotation Eulerian angle of X, Y, Z-direction in step C2 are divided in order successively the sub-Eulerian angle of multiple X, Y, Z-direction, obtain multiple X, Y, the subcoordinate converted quantity of Z-direction record accordingly;

C4. within the identical unit execution time, with the sub-Eulerian angle in step C3 for scale successively rotates the center line of four limbs or trunk, the coordinate controlling to put in four limbs or trunk point set by subcoordinate converted quantity accordingly successively changes, until revolve the final position of rotation gone to step in C1, complete the spinning movement of four limbs or trunk point set.

Preferably, described step D comprises:

D1. the shift length in step B is decomposed into the displacement of X, Y, Z-direction, and obtains the coordinate knots modification of X, Y, Z-direction respectively;

D2. the coordinate controlling point in four limbs or trunk point set changes according to the coordinate knots modification of the X in step D1, Y, Z-direction, complete the displacement action of four limbs or trunk, and the spinning movement in step C4 merges, and completes four limbs or the motion of trunk point set in three dimensions.

Further, the present invention carries out expansion research and development on the basis of 3D scanning technique, true man's human body 3D model data is obtained by 3D scanning technique, the form of this data file is obj, the storage principle of obj file is and is placed in three-dimensional system of coordinate by true man's human body 3D model, and be that the form of the point set in three-dimensional system of coordinate is represented by this true man's human body 3D model conversation, and each point that point is concentrated all has its unique three-dimensional coordinate in three-dimensional system of coordinate, therefore in fact this file be by true man's human body 3D model conversation be with coordinate point set store in a computer, so that follow-up use, true man's human body 3D model forms its outer shape structure by multiple point set formed, first the present invention obtains the true man's human body 3D model data obj file scanning and obtain, then, to represent in obj file that the articulation point of human limb and trunk finds, and by articulation point determination four limbs or trunk point set, and the center line of four limbs or trunk point set, four limbs or trunk motion are in three dimensions converted to the change of the some coordinate in three-dimensional system of coordinate in four limbs or trunk point set by the principle that can be beneficial to Eulerian angle after determining the center line of four limbs or trunk, thus only need the coordinate by controlling four limbs or trunk point centrostigma can realize the control of moving in three dimensions to true man's human body 3D model.

Particularly, the present invention obtains the articulation point of four limbs and trunk point set by obj data file, and the center line of four limbs or trunk point set and point set is obtained by articulation point: the point successively being got differing heights by sole to the crown is analyzed, articulation point in obj file is found, then by the point set corresponding to articulation point determination human limb and trunk, finally be beneficial to the plane point set that the two joint point height determination articulation point of four limbs or trunk is corresponding, the shape that this plane point set is formed is consistent with the xsect that human synovial goes out, two groups of points concentrated by millet cake of making even, each group is two points, and two groups of points are connected to form line respectively, article two, the intersection point of line can be defined as the center of this plane point set, when precise requirements is higher, multiple two groups of points like this can be got, the multiple intersection point of formation that multiple two groups of points are corresponding, these intersection points form a plane point set again, determine the center of this plane point set after the same method, this center is more close to the practical center of articulation point place plane point set, the accuracy at center can be determined according to actual needs, after obtaining the center of an articulation point plane point set, profit uses the same method and obtains the center of another articulation point, is connected at two centers, thus forms the center line of these four limbs or trunk, clear logic of the present invention, step is simplified, and proposes a kind of method not needing to utilize complicated computer software can realize true man's human body 3D model four limbs and the articulation point of trunk and the automatic binding of center line originally.

Further, in obj model file, the point of the expression model that " V " starts, obtains file content after have read model file by row, finds out the row that in file, " V " starts, and splits this line character string, the coordinate of acquisition point with space, medium to be used stored in array.

Concrete file segmentation process example:

File fragment is as follows:

The file be separated after embarking on journey is as follows:

Four file fragments after segmentation:

Fragment one:

Fragment two:

Fragment three:

Fragment four:

In four file fragments above, after three fragments be exactly the X of certain point in model, Y, the coordinate figure of Z axis.

Further, be the two kinds of situations occurred when determination four limbs of the present invention and joint of trunk point and four limbs point set, the present invention upwards gets the point of differing heights successively by the sole position of true man's human body 3D model, when the leg place of model, after highly determining, this highly corresponding plane point set comprises two sub-plane point sets, because the plane point set starting to obtain is one group of mixing point set do not distinguished, in order to the point concentrated by this mixing point is divided to two plane point sets representing true man's human body 3D model two leg respectively, can concentrate at this mixing point and find minimum and maximum two points of X-coordinate, X2 can be set to respectively, X1, and the X-coordinate of X2 and X1 is obtained according to obj file, the mid point obtaining 2 lines according to X-coordinate is set to X3, comparison is one by one carried out in the X-coordinate of each point concentrated by mixing point and the coordinate of mid point X3, if be less than X3, then belong to a plane point set, if be greater than X3, belong to another plane point set, X1 herein, X2, in fact X3 is boundary's point, when got height is positioned at trunk portion, in fact this highly corresponding plane point set comprises three sub-plane point sets, the plane point set starting to obtain also is mixing point set, in order to the sub-plane point set of three in this plane point set being made a distinction the point successively can got mixing point and concentrate, and by the X-coordinate record of point, analysis site concentrates the X-axis coordinate of each point, when occurring that blank point set appears in the side of a bit, determine that this point is boundary's point of whole mixing point set, obtain six boundary's points in this approach and can be set to X4 respectively successively from small to large, X5, X6, X7, X8, X9, getting the X-coordinate point belonged between X4 to X5 location more from small to large is respectively a sub-plane point set, the point belonged between X6 to X7 location is a sub-plane point set, getting the point belonged between X8 to X9 location is a sub-plane point set, thus mixing point set is divided into three sub-plane point sets, after obtaining the point in sub-plane point set, only need from the sub-plane point set of difference, to take out 2 points respectively, and the distance calculated between 2, as long as occur that once distance is the situation of zero, then illustrate and occurred intersecting between two sub-plane point sets, namely four limbs connect, and height corresponding when therefore can determine that appearance distance is zero situation is height corresponding to articulation point, and so circulation is until determine four limbs and the joint of trunk point of human body.

Further, the determination of four limbs of the present invention or trunk center line: two articulation points corresponding two plane point sets respectively of four limbs or trunk, a1 is established wherein in a plane point set, a2 is respectively the straight line formed after the two groups of points got in plane point set connect, a1, the intersection point of a2 is set to O1, O1 point is the central point of this plane point set, the method is the most basic, the situation that degree of accuracy is minimum, in practical situations both, desirable multiple two groups of points, thus form an intersection point, these intersection points are by constituting another plane point set, the method of getting center according to above-mentioned plane point set determines the center of this plane point set again, the center obtained is than the practical center of O1 closer to articular surface point set, recursion like this, recursion number of times can be determined needed for reality, can determine that according to said method the center of the plane point set of another articulation point is set to O2, then center line O2 and O1 being connected to form four limbs or trunk is set to a.

Further, as shown in Figure 2, a represents the reference position of the center line of four limbs or trunk, b represents post exercise position in three dimensions, a1 represents and is parallel to center line a, and and between straight line b, there is the straight line of angle j, h represents the distance between straight line a and a1, wherein j is the anglec of rotation of center line in three dimensions after Kinematic Decomposition, h is the shift length of center line in three dimensions after Kinematic Decomposition, therefore only need determine that angle j and distance h can determine the motion of four limbs or trunk center line, accordingly by the kinematic variables of each point in the kinematic variables determination four limbs of center line and trunk point set, then whole four limbs and the motion of trunk in three dimensions is achieved.First, the control central line anglec of rotation: angle j is decomposed at X, Y, the Eulerian angle of Z-direction, and accordingly by X, Y, the Eulerian angle of Z-direction are decomposed into multiple sub-Eulerian angle, by Eulerian angle principle (as shown in Figure 3), utilize rotation matrix formula: Rz (α) Rx (β) Rz (γ) obtains three-dimensional system of coordinate mid point at X, Y, the coordinate transform amount of Z-direction, because Eulerian angle are split into multiple, therefore also (separate the object of Eulerian angle is in order to by three-dimensional motion precision to the changes in coordinates value obtained for multiple, separating is not impartial the separation, but separate according to the size of the purposive control Eulerian angle of the amplitude size of three-dimensional motion, its reason is, when controlling human movement model, the run duration of every sub-Eulerian angle is consistent, namely the unit execution time of action is identical, therefore time sub-Eulerian angle are large, action is fast, slow motion time sub-Eulerian angle are little, thus achieve the action of human body 3D model and precisely control), obtain the institute that these coordinate transform amount introducing value four limbs or trunk point concentrated after changes in coordinates value a little in, thus four limbs or the integral-rotation angle of trunk in three-dimensional system of coordinate can be controlled.

Further, be illustrated in figure 4 the knots modification schematic diagram that the Kinematic Decomposition of the center line of four limbs in Fig. 2 or trunk point set is the Z-direction of three-dimensional system of coordinate by the present invention, in figure, hz1 and hz2 is illustrated respectively in two limits of Z-direction, and the distance between hz1 and hz2 is the changes in coordinates amount of center line in Z-direction, Figure 5 shows that the Kinematic Decomposition of the center line of four limbs in Fig. 2 or trunk point set is the X-axis of three-dimensional system of coordinate and the knots modification schematic diagram of Y direction by the present invention, in figure, hx1, hx2 is illustrated respectively in two limits of X-direction, distance between hx1 and hx2 is the coordinate knots modification in centre line axis X direction, hy1, distance between two limit hy1 and hy2 that hy2 is illustrated respectively in Y direction is the coordinate knots modification of center line Y direction, by above-mentioned X, Y, the coordinate knots modification of Z-direction is respectively used to control four limbs or trunk point concentrates the coordinate of each point to change, four limbs or the global displacement of trunk point set in three-dimensional system of coordinate can be realized, the mass motion in three dimensions to four limbs or trunk can be realized by being combined with the anglec of rotation.

Particularly, the motion in joint is saved as the Eulerian angle of rotation, as follows:

rightup_leg_rot=newfloat[,]{

{336.5943f,180f,5.311174f},

{333.332f,180f,5.311174f},

{330.9768f,180f,5.311174f},

{331.4185f,180f,5.311174f},

{334.1049f,180f,5.311174f},

{340.3498f,180f,5.311174f},

{347.9121f,180f,5.311174f},

{356.2991f,180f,5.311174f},

{5.063174f,180f,5.311174f},

{14.2673f,180f,5.311174f},

{22.10592f,180f,5.311174f},

{28.60447f,180f,5.311174f},

{32.68417f,180f,5.311174f},

{34.40443f,180f,5.311174f},

{34.48128f,180f,5.311174f},

{32.92765f,180f,5.311174f},

{30.29921f,180f,5.311174f},

{26.58756f,180f,5.311174f},

{21.93132f,180f,5.311174f},

{16.5189f,180f,5.311174f},

{10.65975f,180f,5.311174f},

{6.669238f,180f,5.311174f},

{356.4677f,180f,5.311174f},

{354.7465f,180f,5.311174f},

{346.5511f,180f,5.311174f},

{344.8346f,180f,5.311174f},

{333.0522f,180f,5.311174f},

{331.4213f,180f,5.311174f},

{323.6397f,180f,5.311174f},

{318.8836f,180f,5.311174f},

{315.5361f,180f,5.311174f},

{313.8447f,180f,5.311174f},

{313.644f,180f,5.311174f},

{313.7832f,180f,5.311174f},

{315.4145f,180f,5.311174f},

{318.6844f,180f,5.311174f}};

More than record expression, in time running, the motion in thigh root joint is around x-axis from 318 degree to 34 degree motions, and namely leg portion is moved from back to front.

Embodiments of the invention just introduce its embodiment, do not lie in and limit its protection domain.The technician of the industry can make some amendment under the inspiration of the present embodiment, therefore all equivalences done according to the scope of the claims of the present invention change or modify, and all belong within the scope of Patent right requirement of the present invention.

Claims (3)

1. 3D manikin animation logic importing process and a method, is characterized in that, comprises the following steps:

A. four limbs in human body 3D model data file and the point set of trunk and the center line of point set is obtained, so that according to four limbs or trunk center line determination four limbs or trunk movement angle, and by the coordinate control four limbs of the some centrostigma that changes four limbs or trunk or the motion of trunk point set in three dimensions;

B. determine the action that four limbs or trunk will do, and be shift length and the anglec of rotation of four limbs or trunk point set by this movement decomposition;

C. the center line utilizing Eulerian angle principle the anglec of rotation in step B to be converted into four limbs or trunk point set rotates Eulerian angle, and the coordinate transform amount of Eulerian angle determination four limbs or trunk point centrostigma is rotated by center line, the coordinate changing four limbs or trunk point centrostigma by coordinate transform amount realizes the rotation of four limbs or trunk;

D. the shift length in step B is decomposed into the displacement of X, Y, Z-direction, obtain point that four limbs or trunk point the concentrate coordinate knots modification in X, Y, Z-direction, changed the coordinate of four limbs or trunk point centrostigma by this coordinate knots modification, realize the displacement of four limbs or trunk.

2. a kind of 3D manikin animation logic importing process according to claim 1 and method, it is characterized in that, described step C comprises:

C1. according to beginning position of rotation and the final position of rotation of the anglec of rotation determination four limbs in step B or trunk center line;

C2. the beginning position of rotation in step C1 and the rotation angle between final position of rotation are decomposed into the rotation Eulerian angle of X, Y, Z-direction;

C3. the rotation Eulerian angle of X, Y, Z-direction in step C2 are divided in order successively the sub-Eulerian angle of multiple X, Y, Z-direction, obtain multiple X, Y, the subcoordinate converted quantity of Z-direction record accordingly;

C4. within the identical unit execution time, with the sub-Eulerian angle in step C3 for scale successively rotates the center line of four limbs or trunk, the coordinate controlling to put in four limbs or trunk point set by subcoordinate converted quantity accordingly successively changes, until revolve the final position of rotation gone to step in C1, complete the spinning movement of four limbs or trunk point set.

3. a kind of 3D manikin animation logic importing process according to claim 1 and method, it is characterized in that, described step D comprises:

D1. the shift length in step B is decomposed into the displacement of X, Y, Z-direction, and obtains the coordinate knots modification of X, Y, Z-direction respectively;

D2. the coordinate controlling point in four limbs or trunk point set changes according to the coordinate knots modification of the X in step D1, Y, Z-direction, complete the displacement action of four limbs or trunk, and the spinning movement in step C4 merges, and completes four limbs or the motion of trunk point set in three dimensions.