CN105528079A - Method for locating physical prop of virtual reality system and virtual reality system - Google Patents

Method for locating physical prop of virtual reality system and virtual reality system Download PDF

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Publication number
CN105528079A
CN105528079A CN201510960512.7A CN201510960512A CN105528079A CN 105528079 A CN105528079 A CN 105528079A CN 201510960512 A CN201510960512 A CN 201510960512A CN 105528079 A CN105528079 A CN 105528079A
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China
Prior art keywords
stage property
coordinate system
cartesian coordinate
dimensional cartesian
information
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CN201510960512.7A
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Inventor
戴若犁
刘昊扬
托比亚斯·鲍曼
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Beijing Nuo Yiteng Science And Technology Ltd
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Beijing Nuo Yiteng Science And Technology Ltd
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Priority to CN201510960512.7A priority Critical patent/CN105528079A/en
Publication of CN105528079A publication Critical patent/CN105528079A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment

Abstract

The invention discloses a method for locating a physical prop of a virtual reality system and the virtual reality system. The method comprises the steps of selecting a reference system; building a first three-dimensional rectangular coordinate system in the reference system; respectively modeling for a physical controller and the physical prop according to rigid bodies; determining relational data between a controller rigid body three-dimensional rectangular coordinate system and a prop rigid body three-dimensional rectangular coordinate system under the condition that the physical controller is connected to the physical prop by a connector; acquiring position information and posture information of the physical controller connected to the physical prop, so as to determine translation and rotation relations of the controller rigid body three-dimensional rectangular coordinate system relative to the first three-dimensional rectangular coordinate system; according to the translation and rotation relations of the controller rigid body three-dimensional rectangular coordinate system relative to the first three-dimensional rectangular coordinate system and the relational data, determining translation and rotation relations of the prop rigid body three-dimensional rectangular coordinate system relative to the first three-dimensional rectangular coordinate system, and thus determining position information and posture information of the physical prop.

Description

To localization method and the virtual reality system of the physics stage property of virtual reality system
Technical field
The present invention relates to field of virtual reality, particularly relate to a kind of localization method and virtual reality system of the physics stage property to virtual reality system.
Background technology
Need user to use controller and virtual reality applications to carry out alternately in virtual reality system, often utilize controller to represent various virtual item in virtual reality system, need user to hold controller and operate.
Summary of the invention
According to one embodiment of present invention, provide a kind of localization method of the physics stage property for virtual reality system, described virtual reality system comprises physical controller, and described physics stage property comprises the interface for connecting described physical controller, and described method comprises: select reference frame; The first three-dimensional cartesian coordinate system is set up in described reference frame; According to rigid body, modeling is carried out respectively to described physical controller and described physics stage property, to generate the controller rigid body three-dimensional cartesian coordinate system corresponding with described physical controller and the stage property rigid body three-dimensional cartesian coordinate system corresponding with described physics stage property; Determine that described physical controller is connected to the relation data between described controller rigid body three-dimensional cartesian coordinate system in described physics stage property situation and described stage property rigid body three-dimensional cartesian coordinate system by described interface, wherein said interface defines described physical controller and is connected in described physics stage property situation, between described physical controller and described physics stage property relative position and relative attitude; Obtain and be connected to positional information and the attitude information of the described physical controller of described physics stage property, to determine that described controller rigid body three-dimensional cartesian coordinate system is relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship; Determine that described stage property rigid body three-dimensional cartesian coordinate system is relative to the positional information of described first three-dimensional cartesian coordinate system and attitude information according to described controller rigid body three-dimensional cartesian coordinate system relative to the positional information of described first three-dimensional cartesian coordinate system and attitude information and described relation data; Determine positional information and the attitude information of described physics stage property relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described stage property rigid body three-dimensional cartesian coordinate system.
According to another implementation of the invention, disclose a kind of virtual reality system, described virtual reality system comprises: physical controller, physics stage property, comprises the interface for connecting described physical controller, server, select reference frame, the first three-dimensional cartesian coordinate system is set up in described reference frame, according to rigid body, modeling is carried out respectively to described physical controller and described physics stage property, to generate the controller rigid body three-dimensional cartesian coordinate system corresponding with described physical controller and the stage property rigid body three-dimensional cartesian coordinate system corresponding with described physics stage property, described server also determines that described physical controller is connected to the relation data between described controller rigid body three-dimensional cartesian coordinate system in described physics stage property situation and described stage property rigid body three-dimensional cartesian coordinate system by described interface, wherein said interface defines described physical controller and is connected in described physics stage property situation, relative position between described physical controller and described physics stage property and relative attitude, described server also obtains positional information and the attitude information of the described physical controller being connected to described physics stage property, to determine that described controller rigid body three-dimensional cartesian coordinate system is relative to the translation at described first three-dimensional right angle and rotation relationship, determine that described stage property rigid body three-dimensional cartesian coordinate system is relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described controller rigid body three-dimensional cartesian coordinate system relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship and described relation data, and determine positional information and the attitude information of described physics stage property relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described stage property rigid body three-dimensional cartesian coordinate system.
By the method for above-mentioned embodiment, physical controller is connected to physics stage property, server selecting reference system also sets up the first three-dimensional cartesian coordinate system, server also can obtain relation data (the such as relative position between physical controller and physics stage property, relative attitude, the relation etc. of translation and rotation), the positional information of the traceable physical controller of server and attitude information, and then obtain controller rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship, and then obtain stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship according to relation data, thus determine position and the attitude of stage property.Can stage property be presented in virtual reality applications relative to the position of the first three-dimensional cartesian coordinate system and attitude like this, make user to the operation seamless link seen in the operation of physics stage property and virtual reality in reality, greatly strengthen the experience of user.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in the embodiment of the present invention below, apparently, accompanying drawing described is below only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is according to an embodiment of the invention for the method flow of the location of the physics stage property of virtual reality system;
Fig. 2 is according to an embodiment of the invention for the method flow of the location of the physics stage property of virtual reality system;
Fig. 3 is according to an embodiment of the invention for the method flow of the location of the physics stage property of virtual reality system;
Fig. 4 is according to an embodiment of the invention for the method flow of the location of the physics stage property of virtual reality system;
Fig. 5 is according to an embodiment of the invention for the method flow of the location of the physics stage property of virtual reality system;
Fig. 6 is according to an embodiment of the invention for the method flow of the location of the physics stage property of virtual reality system;
Fig. 7 is according to an embodiment of the invention for virtual reality system;
Fig. 8 is according to an embodiment of the invention for virtual reality system.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiment.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all should belong to the scope of protection of the invention.
Clearer for what make the technical scheme of the embodiment of the present invention and advantage express, below by drawings and Examples, technical scheme of the present invention is described in further detail.
The method flow diagram of the location of a kind of physics stage property for virtual reality system that Fig. 1 provides for one embodiment of the invention.This virtual reality system comprises physical controller, and physics stage property comprises the interface for connecting physical controller.
As shown in Figure 1 in step 110, reference frame is selected.In the step 120, in reference frame, the first three-dimensional cartesian coordinate system is set up.
In step 130, according to rigid body, modeling is carried out respectively to physical controller and physics stage property, to generate the controller rigid body three-dimensional cartesian coordinate system corresponding with physical controller and the stage property rigid body three-dimensional cartesian coordinate system corresponding with physics stage property.
In step 140, determine that physical controller is connected to the relation data between controller rigid body three-dimensional cartesian coordinate system in physics stage property situation and stage property rigid body three-dimensional cartesian coordinate system according to above-mentioned interface, the interface define physical controller and be connected in physics stage property situation, between physical controller and physics stage property relative position and relative attitude.Such as, when physical controller is connected with physics stage property by this interface, physical controller is fixing relative to the relative position of physics stage property and relative attitude, physical controller is connected to physics stage property according to the connected mode that the interface on physics stage property is determined, server determines in this situation, between controller rigid body three-dimensional cartesian coordinate system and stage property rigid body three-dimensional cartesian coordinate system translation and rotation relationship.
In step 150, obtain and be connected to positional information and the attitude information of the physical controller of physics stage property, to determine that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.Such as, physical controller is connected to physics stage property, server obtains positional information and the attitude information of this physical controller, and determines that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship according to this positional information and attitude information.
In a step 160, according to controller rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship and relation data determination stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.
In step 170, according to stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and the positional information of rotation relationship determination physics stage property and attitude information.
Select as one, virtual item is designed to have identical size and dimension with handgrip part in physics stage property.
By the method for above-mentioned embodiment, physical controller is connected to physics stage property, server selecting reference system also sets up the first three-dimensional cartesian coordinate system, server also can obtain relation data (the such as relative position between physical controller and physics stage property, relative attitude, the relation etc. of translation and rotation), the positional information of the traceable physical controller of server and attitude information, and then obtain controller rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship, and then obtain stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship according to relation data, and according to stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and the position of rotation relationship determination stage property and attitude.So only need the motion tracker of controller and virtual reality system to carry out position and attitude that light signal can determine stage property alternately, virtual item also can be designed to have identical size and dimension with handgrip part in physics stage property, make user to the operation seamless link seen in the operation of physics stage property and virtual reality in reality, greatly strengthen the experience of user.
Such as, inventor finds in existing technology in the practice of the invention, and need user to hold physical controller thus implement virtual reality applications, the hand of such user cannot free takes other stage properties, and because will hold controller, therefore finger cannot make more actions.According to above-mentioned method, such as, physical controller can be arranged on the wrist of wearable motion capture gloves (hereinafter referred to as gloves), server can obtain positional information and the attitude information of gloves by the positional information and attitude information of following the trail of physical controller, and the both hands of such user can free to operate other physics stage property and/or virtual item.
Fig. 2 is the process flow diagram of the localization method of the physics stage property for virtual reality system that one embodiment of the invention provides.As shown in Figure 2, step 210-230 is identical with above-mentioned steps 110-130, and step 270 is identical with above-mentioned step 170, repeats no more.
As shown in Figure 2, in step 241, determine to represent the stage property translation of rigid body three-dimensional cartesian coordinate system relative to controller rigid body three-dimensional cartesian coordinate system and the first matrix T r of rotation relationship.Such as, server is determined and is represented the stage property translation of rigid body three-dimensional cartesian coordinate system relative to controller rigid body three-dimensional cartesian coordinate system and the first matrix T r of rotation relationship.
In step 251, obtain the positional information and the attitude information that are connected to the physical controller of physics stage property, to determine the translation of controller rigid body three-dimensional cartesian coordinate system relative to the first three-dimensional cartesian coordinate system and the second matrix T c of rotation relationship.
Such as, the physical controller being connected to physics stage property can be the controller being provided with light sensor, this controller can to carry out light signal mutual with motion tracker, thus produce and send self positional information and attitude information, server can receive the positional information and attitude information that this controller sends.
Again such as, the physical controller being connected to physics stage property can be the controller being provided with multiple optical markings, this controller obtains positional information and the attitude information of this controller by motion tracker (such as camera), camera can send this positional information and attitude information, and server can receive this positional information and the attitude information of the physical controller that camera sends.
Again such as, the physical controller being connected to physics stage property can be the physical controller being simultaneously provided with inertial sensor and optical markings, this physical controller can produce and transmit self attitude information, motion tracker obtains positional information and/or the attitude information of physical controller by detecting optical mark, and being sent to server, server can receive positional information and the attitude information of this physical controller.
Above-mentioned physical controller is such as six degree of freedom controller.After the positional information receiving controller at server and attitude information, the translation of controller rigid body three-dimensional cartesian coordinate system relative to the first three-dimensional cartesian coordinate system and the second matrix T c of rotation relationship can be determined according to the positional information and attitude information receiving physical controller.
In step 261, represent the translation of stage property rigid body three-dimensional cartesian coordinate system relative to the first three-dimensional cartesian coordinate system and the 3rd matrix T t of rotation relationship by the first matrix and the second matrix multiple being determined.Such as, obtain representing the stage property translation of rigid body three-dimensional cartesian coordinate system relative to the first three-dimensional cartesian coordinate system and the 3rd matrix T t of rotation relationship by Tt=Tr*Tc.
Alternatively, Fig. 3 is the process flow diagram of the localization method of the physics stage property for virtual reality system according to an embodiment of the invention.As shown in Figure 3, step 310-350 is identical with above-mentioned steps 110-150, and step 370 is identical with above-mentioned step 170.
As shown in Figure 3, in step 341, the id information of the physics stage property be associated with relation data is obtained.Such as, in step 340, server obtains physical controller and is connected to relation data between controller rigid body three-dimensional cartesian coordinate system in physics stage property situation and stage property rigid body three-dimensional cartesian coordinate system.In step S341, the id information of self can be sent to server by physics stage property.Again such as, in step S341, the id information of this physics stage property is sent to server by controller by physics stage property.
In step 342, store the id information of relation data and the physics stage property be associated.Such as, after server receives the id information of physics stage property, the id information storing physics stage property and the relation data be associated with this physics stage property id information.
In step 350, the positional information and the attitude information that are connected to the physical controller of physics stage property is obtained.Such as, obtain and be connected to positional information and the attitude information of the physical controller of physics stage property, in order to determine that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.
In step 361, determine associated relation data according to the id information of physics stage property.In step 362, according to relation data and controller rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship determination stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.
Such as, certain physics stage property (such as wearable motion capture equipment, such as wearable motion capture gloves) be connected with physical controller, server has got positional information and the attitude information of this physical controller in step 350, thus determines that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.In step 361, server has got the id information of this physics stage property, and the id information according to physics stage property reads the relation data be associated with this id information.In step 362, determine that stage property rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship according to the relation data be associated and controller rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship, and then position and the attitude of physics stage property can be determined according to stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.
By the method for above-mentioned embodiment, the id information of the id information of self and physics stage property is together sent to server by physical controller, the ID of this physical controller can be associated with the ID of this physics stage property by server, even deposit in case at multiple physical controller like this, also can identify which physical controller very easily and with which physics stage property be associated.
Select as one, physics stage property comprises switch, and as shown in Figure 4, step 410-450 is identical with above-mentioned steps 310-350, and step 441-step 442 is identical with step 342 with step 341 respectively, and step 470 is identical with step 370, does not repeat them here.
As shown in Figure 4, in step 451, the active information of the physics stage property that the id information of the physical controller that detection physical controller sends and physical controller are connected to physics stage property and get, this active information at least comprises the id information of physics stage property.Such as, physical controller is connected by wired or wireless mode with physics stage property, thus physical controller can get the active information of physics stage property, and this active information at least comprises the id information of physics stage property.The id information of self is sent to server by physical controller together with the id information of physics stage property.The id information of the id information of this physical controller with this physics stage property can be associated by server.
In step 450, the positional information and the attitude information that are connected to the physical controller of physics stage property is obtained.Such as, obtain and be connected to positional information and the attitude information of the physical controller of physics stage property, in order to determine that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system with select dress relation.
In step 461, the id information according to the physics stage property obtained in step 451 transfers the relation data corresponding with this id information and virtual reality applications.In step 462, shouldthe virtual item that in virtual reality applications, display is corresponding with this physics stage property.
Such as, certain physics stage property (such as wearable motion capture equipment, such as wearable motion capture gloves) be connected with physical controller, in step 450, server obtains and is connected to positional information and the attitude information of the physical controller of physics stage property, and is connected to the positional information of the physical controller of physics stage property and attitude information according to the acquisition got and determines that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.Physical controller is connected by wired or wireless mode with physics stage property, and in step 461, the active information (comprising the id information of physics stage property) of physics stage property and the id information of physical controller are sent to server by physical controller.In step 461, server is searched according to the id information of physics stage property obtained in step 451 and the relation data corresponding with this id information and virtual reality applications in called data storehouse, such as corresponding with the id information of physics stage property relation data, and the gaming-related information corresponding with this physics stage property id information, such as which game concrete, what grade, the character relation related to, scene etc.In step 462, show the virtual item corresponding with physics stage property, determine that stage property rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship according to relation data and controller rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship, i.e. the positional information of virtual item in virtual reality applications and attitude information.
Alternatively, physics stage property also can comprise sensor, such as one or more in inertial sensor, optical sensor, displacement transducer, angular transducer, temperature sensor, pressure transducer or combination, as shown in Figure 5, step 510-550 is identical with above-mentioned steps 310-350, step 541 is identical with 342 with step 341 respectively with 542, and step 570 is identical with step 370, does not repeat them here.
As shown in Figure 5, in step 550, obtain the positional information and the attitude information that are connected to the physical controller of physics stage property.Such as, obtain and be connected to positional information and the attitude information of the physical controller of physics stage property, in order to determine that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.
In step 551, the status information relevant to physics stage property that detecting sensor sends is to obtain positional information and the attitude information of the physical controller being connected to physics stage property.Such as, each position of stage property can be provided with the sensor detecting physics stage property state, and sensor detects physics stage property state and sends status information to server, the status information that server receiving sensor sends.Such as, physics stage property is rifle, can arrange sensor to detect the state of this rifle when magazine changes bullet, thus the status information detected can be sent to server by sensor on magazine.Again such as, physics stage property is wearable motion capture gloves, at each joint of finger, sensor can be set to detect the motion of finger, the movable information (i.e. the status information of these wearable motion capture gloves) of the finger detected is sent to server, the status information that server receiving sensor sends by sensor.
In step 561, transfer relation data corresponding to this id information and virtual reality applications according to the id information of the physics stage property received.In step 562, the virtual item that display is corresponding with this physics stage property in virtual reality applications.In step 571, in virtual reality applications, show the change of the virtual item corresponding with this physics stage property according to the status information of this physics stage property.
Such as, in step 541, got the id information of physics stage property.The relation data storing this id information and be associated with this id information in step 542.In step 550, obtain the positional information and the attitude information that are connected to the physical controller of physics stage property.In step 551, the status information that server receiving sensor sends.In step 561, server searches database according to the id information of the physics stage property received, and transfers the relation data corresponding with the id information of this physics stage property.In step 562, server shows the virtual item corresponding with this physics stage property in virtual reality applications, such as, in step 562, determine that stage property rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship according to relation data and controller rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship, i.e. the positional information of virtual item in virtual reality applications and attitude information.Such as physics stage property is stage property gun, and virtual item corresponding with this stage property gun in virtual reality is virtual gun, then server shows positional information in virtual reality applications of the virtual item rifle corresponding with this physics stage property gun and this virtual item rifle and attitude information in virtual reality applications.In step 573, server shows virtual item according to the status information that sensor transmits in virtual reality applications to be changed accordingly.Such as, sensor detects that physics stage property gun has cartridge clip position to have deformation, and this status information is sent to server, and server shows the corresponding actions of the cartridge clip of virtual item rifle in virtual reality applications according to this status information.
By the method for above-mentioned embodiment, the id information of the id information of self and physics stage property is together sent to server by physical controller, the ID of this physical controller can be associated with the ID of this physics stage property by server, even deposit in case at multiple physical controller like this, also can identify which physical controller very easily and with which physics stage property be associated.
Inventor finds in existing technology in the practice of the invention, need user to hold physical controller thus implement virtual reality applications, the hand of such user cannot free takes other stage properties, and because will hold controller, therefore finger cannot make more actions.According to above-mentioned method, such as, physical controller can be arranged on the wrist of wearable motion capture gloves (hereinafter referred to as gloves), server can obtain positional information and the attitude information of gloves by the positional information and attitude information of following the trail of physical controller, and the both hands of such user can free to operate other physics stage property and/or virtual item.The status information of the gloves that the sensor that server also can obtain each joint setting of gloves detects, thus in virtual reality applications, show the motion of user's finger.
Alternatively, physics stage property also can comprise sensor, such as one or more in heart rate sensor, pulse transducer, myoelectric sensor or combination, as shown in Figure 6, step 610-650 is identical with above-mentioned steps 510-550, step 641 is identical with 542 with step 541 respectively with 642, and step 661 and step 662 are identical with step 562 with step 561 respectively.
As shown in Figure 6, in step 650, the positional information and the attitude information that are connected to the physical controller of physics stage property is obtained.Such as, obtain and be connected to positional information and the attitude information of the physical controller of physics stage property, in order to determine that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.
In step 661, server searches database according to the id information of the physics stage property received, and transfers the relation data corresponding with the id information of this physics stage property.In step 662, server shows the virtual item corresponding with this physics stage property in virtual reality applications.
In step 663, user's physiologic information of the use physics stage property that detecting sensor sends.Such as, each position of stage property can be provided with the sensor detecting user's physiologic information, and sensor detects the physiologic information using the user of this physics stage property, the physiologic information that server receiving sensor sends.Such as, physics stage property is rifle, can arrange sensor to detect the physiologic information (pulse information and/or heart rate information) of user, thus the physiologic information detected can be sent to server by sensor on magazine.
In step 664, in virtual reality applications, show the application of the virtual reality corresponding with this physiologic information according to physiologic information.Such as, certain scene in virtual reality applications is opened according to the physiologic information received (such as pulse information).
The schematic diagram of the virtual reality system that Fig. 7 provides for one embodiment of the invention.As shown in Figure 7, this virtual reality system comprises physical controller 10, physics stage property 20 and server 30.
Physics stage property 20 comprises the interface 21 for connecting physical controller 10.Server 30 selects reference frame.Server 30 sets up the first three-dimensional cartesian coordinate system in selected reference frame.
Server 30 pairs of physical controllers 10 and physics stage property 20 carry out modeling according to rigid body respectively, to generate the controller rigid body three-dimensional cartesian coordinate system corresponding with physical controller 10 and the stage property rigid body three-dimensional cartesian coordinate system corresponding with physics stage property 20.
Server 30 determines that physical controller 10 is connected to the relation data between controller rigid body three-dimensional cartesian coordinate system in physics stage property 20 situation and stage property rigid body three-dimensional cartesian coordinate system by above-mentioned interface 21, and wherein interface 21 defines when physical controller 10 is connected to physics stage property 20, between physical controller 10 and physics stage property 20 relative position and relative attitude.Such as, when physical controller 10 is connected with physics stage property 20 by this interface 21, physical controller 10 is fixing relative to the relative position of physics stage property 20 and relative attitude.Physical controller 10 is connected to physics stage property 20 according to the connected mode that the interface on physics stage property 20 is determined, server 30 determines translation between controller rigid body three-dimensional cartesian coordinate system in this situation and stage property rigid body three-dimensional cartesian coordinate system and rotation relationship.
Server 30 obtains and is connected to positional information and the attitude information of the physical controller 10 of physics stage property 20, to determine that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.Such as, physical controller 10 is connected to physics stage property 20, server 30 obtains positional information and the attitude information of the physical controller 10 of this physics stage property 20 by action tracker, and determines that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship according to this positional information and attitude information.
Server 30 according to controller rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship and relation data determination stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship, and according to stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and the position of rotation relationship determination physics stage property 20 and attitude.
Alternatively, server 30 determines that physical controller 10 is connected to the relation data between controller rigid body three-dimensional cartesian coordinate system in physics stage property 20 situation and stage property rigid body three-dimensional cartesian coordinate system by interface 21, can according to following exemplary operations.
Such as, server 30 is determined to represent stage property rigid body three-dimensional cartesian coordinate system and the translation of controller rigid body three-dimensional cartesian coordinate system and the first matrix T r of rotation relationship.Such as, server 30 is determined and is represented stage property rigid body three-dimensional cartesian coordinate system and the translation of controller rigid body three-dimensional cartesian coordinate system and the first matrix T r of rotation relationship.
Server 30 also obtains positional information and the attitude information of the physical controller 10 being connected to physics stage property 20, to determine the translation of controller rigid body three-dimensional cartesian coordinate system relative to the first three-dimensional cartesian coordinate system and the second matrix T c of rotation relationship.
Such as, the physical controller 10 being connected to physics stage property 20 can be the controller being provided with light sensor, this physical controller 10 can send self positional information and attitude information, and server 30 can receive the positional information and attitude information that this physical controller 10 sends.
Again such as, the physical controller 10 being connected to physics stage property 20 can be the controller being provided with optical markings, this physical controller 10 obtains positional information and the attitude information of this controller by camera, camera can send this positional information and attitude information, and server 30 can receive this positional information and the attitude information of the physical controller 10 that camera sends.
Again such as, the physical controller 10 being connected to physics stage property 20 can be the physical controller being simultaneously provided with light sensor and optical markings, the positional information of physical controller 10 and attitude information transmit respectively by this physical controller 10 itself and camera, and server 30 can receive positional information and the attitude information of this physical controller 10.
Above-mentioned controller is such as six degree of freedom controller.After the positional information receiving physical controller 10 at server 30 and attitude information, the translation of controller rigid body three-dimensional cartesian coordinate system relative to the first three-dimensional cartesian coordinate system and the second matrix T c of rotation relationship can be determined according to the positional information and attitude information receiving physical controller 10.
Server 30 also by the first matrix and the second matrix multiple are determined represent stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship the 3rd matrix T t.Such as, by Tt=Tr*Tc obtain representing stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship the 3rd matrix T t.
In addition, the translation between controller rigid body three-dimensional cartesian coordinate system and stage property rigid body three-dimensional cartesian coordinate system and rotation relationship can also describe by a tri-vector and one group of hypercomplex number.Translation between controller rigid body three-dimensional cartesian coordinate system and stage property rigid body three-dimensional cartesian coordinate system and rotation relationship can also describe by a tri-vector and one group of Eulerian angle.
Alternatively, physics stage property 20 can comprise chip 22.Chip 22 stores the id information of physics stage property 20.
Server 30 can obtain the id information of the physics stage property 20 be associated with relation data.Such as, the id information of self can be sent to physical controller 10 by physics stage property 20, the id information of self is sent to server 30 by physical controller 10 together with the id information of physics stage property 20, and server 30 receives the id information of the physics stage property 20 that physical controller 10 sends and the id information of physical controller 10.
Server 30 also stores the id information of relation data and the physics stage property 20 be associated.Such as, after server 30 receives the id information of physics stage property 20, the id information storing physics stage property 20 and the relation data be associated with the id information of this physics stage property 20.
Server 30 also determines associated relation data according to the id information of physics stage property 20.
Server 30 also according to relation data and controller rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship determination stage property rigid body three-dimensional cartesian coordinate system relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.
Such as, certain physics stage property 20 (such as wearable motion capture equipment, such as wearable motion capture gloves) be connected with the interface 21 of physical controller 10 by physics stage property, the id information of self is sent to physical controller 10 by physics stage property 20, the id information of the id information of self and physics stage property 20 is sent to server 30 by physical controller 10, and the ID of the ID physics stage property 20 of physical controller 10 is associated by server 30.Server 30 has got positional information and the attitude information of the physical controller 10 being connected to physics stage property 20, thus determines that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.Server 30 reads the relation data be associated with this id information according to the id information of physics stage property 20.Relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship, server 30 determines that stage property rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship according to the relation data be associated and controller rigid body three-dimensional cartesian coordinate system, thus determine position and the attitude of stage property.
Alternatively, the schematic block diagram of virtual reality system that provides for one embodiment of the invention of Fig. 8.As shown in Figure 8, this system, except the parts included by above-described embodiment, also can comprise virtual environment emulator 40.
Physics stage property 20 also can comprise switch 23, and when physical controller 10 connects a physics stage property 20 according to above-mentioned connected mode, switch 23 is triggered.
The active information of physics stage property 20 is sent to physical controller 10 when switch is triggered by chip 22, and wherein, active information at least comprises the id information of physics stage property 20.Physical controller 10 receives the active information of physics stage property 20, and this active information and the id information of self are sent to server 30.
Server 30 receives the active information of physics stage property 20 and the id information of physical controller 10 of physical controller 10 transmission, the ID of physics stage property 20 is associated with the ID of physical controller 10, and transfer the relation data corresponding with this id information and virtual reality applications according to the id information of physics stage property 20, with the virtual item that display in the application of this virtual environment emulator is corresponding with this physics stage property 20.
Such as, certain physics stage property 20 (such as wearable motion capture equipment, such as wearable motion capture gloves) be connected with the interface 21 of physical controller 10 by physics stage property, the id information of self is sent to physical controller 10 by physics stage property 20, the id information of the id information of self and physics stage property 20 is sent to server 30 by physical controller 10, and the ID of the ID physics stage property 20 of physical controller 10 is associated by server 30.Server 30 is obtained and is connected to the positional information of the physical controller 10 of physics stage property 20 and attitude information (such as being obtained positional information and the attitude information of physical controller 10 by action tracker), and is connected to the positional information of the physical controller 10 of physics stage property 20 and attitude information according to the acquisition got and determines that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.When physical controller 10 is connected to physics stage property 20, the switch 23 of physics stage property 20 is triggered, thus physics stage property 20 sends active information, and this active information at least comprises the id information of this physics stage property 20.Physical controller 10 receives the active information that physics stage property 20 sends, and the id information of self and this active information are sent to server.Server 30 receives the id information of self of physical controller 10 transmission and the active information of physics stage property 20.Server 30 is also searched according to the id information of physics stage property 20 obtained and the relation data corresponding with this id information and virtual reality applications in called data storehouse, such as corresponding with the id information of physics stage property 20 relation data, and the gaming-related information corresponding with this physics stage property 20ID information, such as which game concrete, what grade, the character relation related to, scene etc.Relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship, server 30 determines that stage property rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship according to relation data and controller rigid body three-dimensional cartesian coordinate system, i.e. the positional information of virtual item in virtual reality applications and attitude information.
Alternatively, virtual reality system also comprises virtual environment emulator 40.Virtual environment emulator 40 also receives the virtual environment simulate signal from server 30.
Physics stage property 20 also can comprise sensor 24, such as, be one or more in inertial sensor, optical sensor, displacement transducer, angular transducer, temperature sensor, pressure transducer or combination.Sensor 24 sends the status information relevant to physics stage property 20 collected to server 30.
Server 30 goes back detected state information, to obtain position and the attitude information of the physical controller 10 being connected to physics stage property 20.Such as, each position of stage property can be provided with the sensor 24 detecting physics stage property 20 state, and sensor 24 detects physics stage property 20 state and sends status information to server 30, the status information that server 30 receiving sensor sends.Such as, physics stage property 20 is rifle, can arrange sensor to detect the state of this rifle when magazine changes bullet, thus the status information detected can be sent to server 30 by sensor 24 on magazine.Again such as, physics stage property 20 is wearable motion capture gloves, at each joint of finger, sensor can be set to detect the motion of finger, the movable information (i.e. the status information of these wearable motion capture gloves) of the finger detected is sent to server 30, the status information that server 30 receiving sensor sends by sensor 24.
Server 30 receives the id information of the physics stage property 20 that physical controller 10 sends and the id information of physical controller 10.Server 30 also transfers relation data corresponding to this id information and virtual reality applications according to the id information of the physics stage property 20 received, virtual environment simulate signal is sent to virtual environment emulator 40, with the virtual item that display in virtual environment emulator is corresponding with this physics stage property 20, and in virtual environment emulator, show the change of the virtual item corresponding with this physics stage property 20 according to the status information of this physics stage property 20.
Such as, server 30 receives the id information of the physics stage property 20 that physical controller 10 sends and the id information of physical controller 10, is associated by the id information of the id information of physics stage property 20 with physical controller 10.Server 30 obtains the positional information and the attitude information that are connected to the physical controller of physics stage property.Server 30 goes back the status information that receiving sensor sends.Server 30 searches database according to the id information of the physics stage property 20 received, and transfers the relation data corresponding with the id information of this physics stage property 20.Server 30 shows the virtual item corresponding with this physics stage property 20 in virtual environment emulator 40.Relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship, server 30 determines that stage property rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship according to relation data and controller rigid body three-dimensional cartesian coordinate system, i.e. the positional information of virtual item in virtual reality applications and attitude information.Such as physics stage property 20 is stage property gun, and virtual item corresponding with this stage property gun in virtual environment emulator is virtual gun, then server 30 shows positional information in virtual reality applications of the virtual item rifle corresponding with this physics stage property gun and this virtual item rifle and attitude information in virtual environment emulator.Server 30 shows virtual item according to the status information that sensor transmits in virtual environment emulator to be changed accordingly.Such as, sensor detects that physics stage property gun has cartridge clip position to have deformation, and this status information is sent to server 30, and server 30 shows the corresponding actions of the cartridge clip of virtual item rifle in virtual environment emulator according to this status information.
Alternatively, physics stage property 20 also can comprise sensor 25, such as, be one or more in heart rate sensor, pulse transducer, myoelectric sensor or combination.Sensor 25 sends the physiologic information of the user of the use physics stage property 20 collected to server 30.
Server 30 obtains the positional information and the attitude information that are connected to the physical controller of physics stage property.Such as, obtain and be connected to positional information and the attitude information of the physical controller of physics stage property, in order to determine that controller rigid body three-dimensional cartesian coordinate system is relative to the translation of the first three-dimensional cartesian coordinate system and rotation relationship.
Server 30 also detects physiologic information, sends virtual environment simulate signal to virtual environment emulator 40.Such as, each position of stage property can be provided with detects user's physiological information sensor 25, and sensor detects the physiologic information of the user using physics stage property 20, the physiologic information that server 30 receiving sensor 25 sends.Such as, physics stage property 20 is rifle, can arrange sensor 25 to detect the physiologic information (such as pulse, heart rate etc.) of user, thus the physiologic information detected can be sent to server 30 by sensor 25 at handle.The physiologic information that server 30 receiving sensor 25 sends.
Server 30 also shows the change of the virtual display application corresponding with this physiologic information in virtual environment emulator 40 according to this physiologic information.Such as, server 30 opens certain scene in virtual reality applications according to the pulse information of the user detected.
Should be understood that in various embodiments of the present invention, the size of the sequence number of above-mentioned each process does not also mean that the priority of execution sequence, and the execution sequence of each process should be determined with its function and internal logic, and should not form any restriction to the implementation process of the embodiment of the present invention.
Those of ordinary skill in the art can recognize, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
Those skilled in the art can be well understood to, and for convenience of description and succinctly, the specific works process of the system of foregoing description, device and unit, with reference to the corresponding process in preceding method embodiment, can not repeat them here.
In several embodiments that the application provides, should be understood that disclosed system, apparatus and method can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.In addition, shown or discussed coupling each other or direct-coupling or communication connection can be indirect coupling by some interfaces, device or unit or communication connection, also can be electric, machinery or other form connect.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of embodiment of the present invention scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, and also can be that the independent physics of unit exists, also can be that two or more unit are in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
If described integrated unit using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is in essence in other words to the part that prior art contributes, or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. various can be program code stored medium.
The above; be only the specific embodiment of the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; can expect amendment or the replacement of various equivalence easily, these amendments or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.

Claims (18)

1. for a localization method for the physics stage property of virtual reality system, described virtual reality system comprises physical controller, and described physics stage property comprises the interface for connecting described physical controller, and described method comprises:
Select reference frame;
The first three-dimensional cartesian coordinate system is set up in described reference frame;
According to rigid body, modeling is carried out respectively to described physical controller and described physics stage property, to generate the controller rigid body three-dimensional cartesian coordinate system corresponding with described physical controller and the stage property rigid body three-dimensional cartesian coordinate system corresponding with described physics stage property;
Determine that described physical controller is connected to the relation data between described controller rigid body three-dimensional cartesian coordinate system in described physics stage property situation and described stage property rigid body three-dimensional cartesian coordinate system by described interface, wherein said interface defines described physical controller and is connected in described physics stage property situation, between described physical controller and described physics stage property relative position and relative attitude;
Obtain and be connected to positional information and the attitude information of the described physical controller of described physics stage property, to determine that described controller rigid body three-dimensional cartesian coordinate system is relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship;
Determine that described stage property rigid body three-dimensional cartesian coordinate system is relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described controller rigid body three-dimensional cartesian coordinate system relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship and described relation data;
Determine positional information and the attitude information of described physics stage property relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described stage property rigid body three-dimensional cartesian coordinate system.
2. the method for claim 1, wherein, determine that the relation data that described physical controller is connected between described controller rigid body three-dimensional cartesian coordinate system in described physics stage property situation and described stage property rigid body three-dimensional cartesian coordinate system by described interface comprises:
Determine to represent that described stage property rigid body three-dimensional cartesian coordinate system is relative to the described translation of controller rigid body three-dimensional cartesian coordinate system and the first matrix T r of rotation relationship;
Obtain and be connected to positional information and the attitude information of the described physical controller of described physics stage property, to determine that described controller rigid body three-dimensional cartesian coordinate system comprises relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship:
Obtain the positional information and the attitude information that are connected to the described physical controller of described physics stage property, to determine that described controller rigid body three-dimensional cartesian coordinate system is sat relative to described first three-dimensional right angle
The translation of mark system and the second matrix T c of rotation relationship;
Determine that described stage property rigid body three-dimensional cartesian coordinate system comprises relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described controller rigid body three-dimensional cartesian coordinate system relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship and described relation data:
The translation of described stage property rigid body three-dimensional cartesian coordinate system relative to described first three-dimensional cartesian coordinate system and the 3rd matrix T t of rotation relationship is represented by described first matrix and described second matrix multiple being determined.
3. the method for claim 1, wherein, determine that the relation data that described physical controller is connected between described controller rigid body three-dimensional cartesian coordinate system in described physics stage property situation and described stage property rigid body three-dimensional cartesian coordinate system according to described connected mode also comprises:
Obtain the id information of the described physics stage property be associated with described relation data;
Store the id information of described relation data and the physics stage property be associated;
Determine that described stage property rigid body three-dimensional cartesian coordinate system comprises relative to the translation of described first three-dimensional rectangular system and rotation relationship according to described controller rigid body three-dimensional cartesian coordinate system relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship and described relation data:
Id information according to described physics stage property determines associated relation data;
Determine that described stage property rigid body three-dimensional cartesian coordinate system is relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described relation data and described controller rigid body three-dimensional cartesian coordinate system relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship.
4. method as claimed in claim 3, wherein, described acquisition is connected to the positional information of the described physical controller of described physics stage property and attitude information also comprises:
Detect the active information of the id information of described physical controller that described physical controller sends and the described physics stage property that described physical controller is connected to described physics stage property and gets, described active information at least comprises the described id information of described physics stage property;
Determining that described stage property rigid body three-dimensional cartesian coordinate system also comprises relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described controller rigid body three-dimensional cartesian coordinate system relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship and described relation data:
Described relation data corresponding to described id information and virtual reality applications is transferred according to described id information;
The virtual item that display is corresponding with described physics stage property in described virtual reality applications.
5. method as claimed in claim 3, wherein, described physics stage property comprises sensor, and described acquisition is connected to the positional information of the described physical controller of described physics stage property and attitude information comprises
Detect the status information relevant to described physics stage property that described sensor sends, to obtain positional information and the attitude information of the described physical controller being connected to described physics stage property;
Determining that described stage property rigid body three-dimensional cartesian coordinate system also comprises relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described controller rigid body three-dimensional cartesian coordinate system relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship and described relation data:
Described relation data corresponding to described id information and virtual reality applications is transferred according to described id information;
The virtual item that display is corresponding with described physics stage property in described virtual reality applications;
Determine that the positional information of described physics stage property and attitude information also comprise according to described stage property rigid body three-dimensional cartesian coordinate system relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship:
In described virtual reality applications, the change of the described virtual item corresponding with described physics stage property is shown according to described status information.
6. method as claimed in claim 4, wherein, described physics stage property comprises sensor, and described acquisition is connected to the positional information of the described physical controller of described physics stage property and attitude information comprises:
Detect the physiologic information of the user of the described physics stage property of use that described sensor sends;
Determining that described stage property rigid body three-dimensional cartesian coordinate system also comprises relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described controller rigid body three-dimensional cartesian coordinate system relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship and described relation data:
In described virtual reality applications, the application of the virtual reality corresponding with described physiologic information is shown according to described physiologic information.
7. method as claimed in claim 5, wherein, described sensor comprises with one or more in lower sensor: inertial sensor, optical sensor, displacement transducer, angular transducer, temperature sensor, pressure transducer.
8. method as claimed in claim 6, wherein, described sensor comprises with one or more in lower sensor: heart rate sensor, pulse transducer, myoelectric sensor.
9., as the method for claim 1-9 as described in any one, wherein, described physical controller comprises six degree of freedom controller.
10. a virtual reality system, described virtual reality system comprises:
Physical controller;
Physics stage property, comprises the interface for connecting described physical controller;
Server, select reference frame, the first three-dimensional cartesian coordinate system is set up in described reference frame, according to rigid body, modeling is carried out respectively to described physical controller and described physics stage property, to generate the controller rigid body three-dimensional cartesian coordinate system corresponding with described physical controller and the stage property rigid body three-dimensional cartesian coordinate system corresponding with described physics stage property
Described server also determines that described physical controller is connected to the relation data between described controller rigid body three-dimensional cartesian coordinate system in described physics stage property situation and described stage property rigid body three-dimensional cartesian coordinate system by described interface, and wherein said interface defines described physical controller and is connected in described physics stage property situation, between described physical controller and described physics stage property relative position and relative attitude;
Described server also obtains positional information and the attitude information of the described physical controller being connected to described physics stage property, to determine that described controller rigid body three-dimensional cartesian coordinate system is relative to the translation at described first three-dimensional right angle and rotation relationship, determine that described stage property rigid body three-dimensional cartesian coordinate system is relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described controller rigid body three-dimensional cartesian coordinate system relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship and described relation data, and determine positional information and the attitude information of described physics stage property relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described stage property rigid body three-dimensional cartesian coordinate system.
11. systems as claimed in claim 10, wherein, described server determines to represent the first matrix T r of described stage property rigid body three-dimensional cartesian coordinate system relative to described controller rigid body three-dimensional cartesian coordinate system translation and rotation relationship, obtain the positional information and the attitude information that are connected to the described physical controller of described physics stage property, to determine the translation of described controller rigid body three-dimensional cartesian coordinate system relative to described first three-dimensional cartesian coordinate system and the second matrix T c of rotation relationship, the translation of described stage property rigid body three-dimensional cartesian coordinate system relative to described first three-dimensional cartesian coordinate system and the 3rd matrix T t of rotation relationship is represented by described first matrix and described second matrix multiple being determined.
12. systems as claimed in claim 10, wherein, described physics stage property comprises chip, and described chip-stored has the id information of described physics stage property;
Described server also obtains the id information of the described physics stage property be associated with described relation data, stores the id information of described relation data and the physics stage property be associated;
Described server also determines associated relation data according to the id information of described physics stage property, determines that described stage property rigid body three-dimensional cartesian coordinate system is relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship according to described relation data and described controller rigid body three-dimensional cartesian coordinate system relative to the translation of described first three-dimensional cartesian coordinate system and rotation relationship.
13. systems as claimed in claim 12, wherein, described system also comprises:
Virtual environment emulator, receives the virtual environment simulate signal from described server;
Described physical controller comprises:
First transmission interface, when described physical controller is connected according to described connected mode with described physics stage property, described physical controller receives the active information from described physics stage property by described data-interface, and described active information at least comprises the described id information of described physics stage property;
Second transmission interface, described physical controller sends the id information of described active information and described physical controller to described server by described second transmission interface;
Described server receives described active information, described relation data corresponding to described id information and virtual reality applications is transferred according to described id information, described virtual environment simulate signal is sent, with the virtual item that display in described virtual reality applications is corresponding with described physics stage property to described virtual environment emulator.
14. systems as claimed in claim 13, wherein, described physics stage property also comprises:
Sensor, detects the status information of described physics stage property, and sends described status information to described server;
Described server detects described status information, to obtain the positional information and the attitude information that are connected to the described physical controller of described physics stage property, and send described virtual environment simulate signal according to described status information to described virtual environment emulator, with the virtual item that display in described virtual reality applications is corresponding with described physics stage property, and in described virtual reality applications, show the change of the described virtual item corresponding with described physics stage property according to described status information.
15. systems as claimed in claim 13, wherein, described physics stage property also comprises:
Sensor, detects the physiologic information of the user using described physics stage property, and sends described physiologic information to described server;
Described physical controller also sends described physiologic information by described second transmission interface to described server;
Described server detects described physiologic information, sends described virtual environment simulate signal to described virtual environment emulator, to show the application of the virtual reality corresponding with described physiologic information in described virtual environment emulator according to described physiologic information.
16. systems as claimed in claim 14, wherein, described sensor comprises with one or more in lower sensor: inertial sensor, optical sensor, displacement transducer, angular transducer, temperature sensor, pressure transducer.
17. systems as claimed in claim 15, wherein, described sensor comprises with one or more in lower sensor: heart rate sensor, pulse transducer, myoelectric sensor.
18. as the system of claim 10-17 as described in any one, and wherein, described physical controller comprises six degree of freedom controller.
CN201510960512.7A 2015-12-18 2015-12-18 Method for locating physical prop of virtual reality system and virtual reality system Pending CN105528079A (en)

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CN109766002A (en) * 2018-12-29 2019-05-17 北京诺亦腾科技有限公司 A kind of interactive approach and device of VR interactive device and VR scene
CN109766002B (en) * 2018-12-29 2021-03-09 北京诺亦腾科技有限公司 Interaction method and device for VR interaction equipment and VR scene

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