CN1111824C - 三维图像处理装置 - Google Patents

三维图像处理装置 Download PDF

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Publication number
CN1111824C
CN1111824C CN96191192A CN96191192A CN1111824C CN 1111824 C CN1111824 C CN 1111824C CN 96191192 A CN96191192 A CN 96191192A CN 96191192 A CN96191192 A CN 96191192A CN 1111824 C CN1111824 C CN 1111824C
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Prior art keywords
data
operand
camera positions
controller
dimensional
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CN96191192A
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CN1166220A (zh
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西海聪
幸岛一雄
河越巧
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Nintendo Co Ltd
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Nintendo Co Ltd
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Abstract

本发明三维图象处理装置包含CPU，CPU一旦根据冲突判定检测出操作对象与摄像机之间存在其他对象，例如墙壁，即计算能够使摄像机对操作对象的视线不受其他对象遮蔽的摄像机移动角度。按照该移动角度移动摄像机，将在移动过的位置上拍摄的三维空间中存在的操作对象及其他对象显示在显示器上。

Description

三维图像处理装置
技术领域
本发明涉及三维图像处理装置及其所使用的外部存储装置，特别是涉及把从规定的摄影位置(视点)拍摄例如存在于三维空间的操作对象(object)和其他对象得到的图像显示于显示器上的三维图像处理装置。
背景技术
在已有的所谓3D(三维的)游戏中，用三维数据构成的操作对象(由操作者操作得到的对象)用摄像机从规定的方向和距离拍摄得到的图像显示于显示器。
已有的三维游戏机，在操作对象和摄像机之间作为背景图像或敌方符号使用的对象(其他对象)存在时，或其他对象移动进入操作对象与摄像机之间时，不能对操作对象摄影。
因此，在这样的已有的三维游戏中，必须以程序限制其他对象的配置，使得操作对象和摄像机之间不存在其他对象。
发明内容
因此，本发明的主要目的在于，提供能够经常显示操作对象，从而不限制其他对象的配置的图像处理装置。
本发明是把对在三维空间存在的操作对象和操作对象从规定的摄影位置拍摄得到的图像显示于显示器的图像处理装置。该装置具备：存储操作对象及其他对象的数据和规定的程序的外部存储器、输入使操作对象在三维空间的位置发生变化的数据用的输入手段、根据输入手段输入的数据产生操作对象位置数据，使在三维空间的操作对象的位置改变的操作对象位置数据产生手段、根据外部存储手段存储的数据与操作对象位置数据作成三维数据的三维数据生成手段、产生对操作对象摄影用的表示在三维空间的摄影位置的摄影位置数据的摄影位置数据产生手段、检测在摄影位置与操作对象位置之间是否存在其他对象的检测手段、在检测手段检测出其他对象存在时变更摄影位置数据使摄影位置与操作对象位置之间不存在其他对象的摄影位置数据变更手段、根据三维数据及摄影位置数据从三维空间的规定的摄影位置拍摄操作对象的得到的图像显示在显示器上用的显示数据生成用的显示数据生成手段、以及根据由显示数据生成手段作成的显示数据向显示器输出图像信号的图像信号发生手段。
检测手段判断操作对象与其他操作对象的多边形平面有否可能冲突。在操作对象与其他操作对象有可能冲突时，摄影位置数据变更手段变更摄影位置即摄像机的位置，使操作对象与摄像机之间不存在其他对象。从而能够用摄像机不受其他对象的干扰地对操作对象进行摄影。
采用本发明，即使其他对象自由配置，也能够经常在显示画面上显示操作对象。从而，在本发明使用于游戏装置的情况下，即使在操作对象与多个其他对象在显示画面上移动的游戏中，也能够经常把操作对象显示在显示器上。
本发明的上述目的、特征、状态及优点从下面的参照附图进行的实施例的详细说明可以更加清楚了解。
附图概述
图1是表示本发明一实施例的概略图解图。
图2是详细表示图1的实施例的图像处理装置的方框图。
图3是表示图2的实施例的CPU的存储器映射的图解图，表示盒式程序卡(cartridge)内藏的外部存储器及W-RAM。
图4是详细表示图2实施例的控制器的控制电路的方框图。
图5是表示数据的调制解调方法的图解图。
图6是表示图4的RAM的存储器映射的图解图。
图7是俯视图2实施例的控制器的立体图。
图8是仰视图2实施例的控制器的立体图。
图9是详细表示控制器与扩张装置的方框图。
图10是表示控制器的模拟操纵杆及各按钮的数据的图解图。
图11是表示从控制器控制电路发送指令“0”时控制电路的收发信数据的图解图。
图12是表示从控制器控制电路发送指令“1”时控制电路的收发信数据的图解图。
图13是表示从控制器控制电路发送指令“2”时控制电路的收发信数据的图解图。
图14是表示从控制器控制电路发送指令“3”时控制电路的收发信数据的图解图。
图15是表示图2的实施例的CPU的动作的流程图。
图16是表示图2的实施例的总线控制电路的动作的流程图。
图17是表示图2的实施例的控制器控制电路的动作的流程图。
图18是表示图2的实施例的控制电路的动作的流程图。
图19是表示从控制器控制电路发送指令“255”时控制电路的收发信数据的图解图。
图20是表示在操作对象(MARIO)与摄像机之间存在墙壁的状态的图解图。
图21是用坐标表示图20的状态的图解图。
图22是表示摄像机的迂回处理动作的流程图。
图23是表示冲突判定程序的流程图。
图24是表示墙壁多边形的图解图。
图25是表示各多边形的图解图。
图26是表示投影面的图解图。
图27是表示在YZ平面投影的状态的图解图。
图28是表示在XY平面投影的状态的图解图。
图29是表示面的法线矢量及摄像机的视线矢量的图解图。
本发明的最佳实施方式
图1是表示本发明一实施例的图像处理系统的系统结构的外观图。图像处理系统是例如电子游戏机系统，由图像处理装置主机10、作为外部存储装置的一个例子的ROM盒式程序卡20、连接于图像处理装置主机10的作为显示手段的一个例子的显示器30、作为操作手段的一个例子的控制器40、以及装卸自如地装在控制器40上的作为扩张装置的一个例子的RAM盒式程序卡50构成。还有，外部存储装置是存储游戏等图像处理用的图像数据和程序数据，同时根据需要也存储音乐和音响效果等声音数据的存储装置，也可以使用CD-ROM或磁盘代替ROM程序卡。在本实施例的图像处理系统使用个人电脑的情况下，操作手段使用键盘和鼠标器等输入装置。
图2是本实施例的图像处理系统的方框图。在图像处理装置10内藏有中央处理单元(下称CPU)11和总线控制电路12。在总线控制电路12连接着用于装卸自如地安装ROM盒式程序卡20用的插口13，同时连接着工作RAM14。又在总线控制电路12连接着用于输出CPU11处理过的声音信号的声音信号发生器15和输出图像信号用的图像信号发生器16，还连接着用于串行传送一个或多个控制器40的操作数据和/或RAM盒式程序卡50的数据的控制器控制电路17。
在控制器控制电路17连接着设置于图像处理装置10前面的控制器用的插口(下面简称插口)181～184。在插口181-184通过连接用的插头41和电缆42装卸自如地连接着控制器40。这样在插口181～184连接控制器40使得控制器40与图像处理装置10成电气连接，相互间能够收发数据。
更具体地说，总线控制电路12输入从CPU通过总线以并行信号输出的指令，进行并行-串行变换，然後以串行信号向控制器控制电路17输出指令，并且把从控制器控制电路17输入的串行数据变换为并行数据，向总线输出。从总线输出的数据由CPU处理，或进行其他处理，如存储于W-RAM14。换句话说，W-RAM14是暂时存储CPU11处理的数据用的存储器，可通过总线控制电路12读出或写入数据。
图3是在CPU11的存储器空间分配的各存储区域的图解。CPU11通过总线控制电路12能够访问的存储器空间有ROM盒式程序卡20的外部存储区域和W-RAM14的存储区域。ROM盒式程序卡20是把存储游戏处理用的数据的ROM装在基板上，再把该基板装在盒子里构成的，ROM存储数据示于图3所示的外部存储器区域。即在ROM中包含，存储使图像处理装置10产生游戏用的图像信号所需要的图像数据的图像数据区域201，和存储CPU进行规定的动作所需要的程序数据的程序数据区域202。在程序数据区域202固定地存储着根据图像数据201进行图像显示用的图像显示程序、进行计时处理用的计时程序、以及判定盒式程序卡20与下述扩张装置50处于固定关系上用的判定程序。计时程序和判定程序的详细情况将在下面加以叙述。另一方面，W-RAM14的存储区域包含暂时存储表示从控制器面板来的操作状态的数据的区域141。
图4是控制器控制电路17的详细电路图。控制器控制电路17是为了在总线控制电路12和控制器用的插口181～184之间进行数据的串行收发信而设置的，包含数据传送控制电路171、发送电路172、接收电路173和用于暂时存储收发信数据的RAM174。数据传送控制电路171包含在进行数据传送时变换数据格式用的并行-串行变换电路和串行-并行变换电路，同时控制RAM174的写入、读出。串行-并行变换电路将总线控制电路12提供的串行数据变换为并行数据提供给RAM174或发送电路172。并行-串行变换电路把RAM174或接收电路173提供的并行数据变换为串行数据提供给总线控制电路12。发送电路172把数据传送控制电路171提供的控制器40信号读入控制用的数据及写入RAM盒式程序卡50的写入数据(并行数据)变换为串行数据，从与各控制器40对应的通道CH1～CH4发送。接收电路173以串行数据接收表示从对应于各控制器40的通道CH1～CH4输入的各控制器40的操作状态的数据及从RAM盒式程序卡50读出的数据而后变换成并行数据提供给数据传送控制电路171。
发送电路172和接收电路173采用负载循环(duty cycle)调制-解调方式作为调制-解调方式的一个例子。负载循环(duty cycle)调制-解调方式如图5所示，是以一定的时间间隔使信号为高(Hi)电平的时间和低(Lo)电平的时间发生变化以表示“0”和“1”的调制-解调方式。具体地对调制方式进行说明如下。在应该串行发送的数据为逻辑“1”时，在1周期的时间T中，发送使高电平时间tH比低电平时间tL长(tH＞tL)的信号，在应该发送的数据为逻辑“0”时，在1周期的时间T中，发送使高电平时间tH比低电平时间tL短(tH＜tL)的信号。
另一方面，解调方式是，将接收的串行信号(比特传送信号)取样，经常监视接收信号是高电平还是低电平，以接收信号的电平从低电平变为高电平之前的时间为tL，从高电平变为低电平之前的时间为tH，则1周期以T＝tL+tH表达。这时，在tL与tH的关系为tL＜tH时认定为逻辑“1”，在tL＞tH时认定为逻辑“0”，以此进行解调。使用这样的负载循环调制-解调方式，具有不必使其与时钟同步传送数据，只使用一条信号线就能够传送数据的优点。而在具有两条信号线的情况下，当然也可以使用其他调制-解调方式。
RAM174如图6的存储映射所示，包含存储区域或存储area(区域)174a～174h。具体地说，在区域174a存储1通道用的指令，在区域174b存储1通道用的发送数据和接收数据。在区域174c存储2通道用的指令，在区域174d存储2通道用的发送数据和接收数据。在区域174e存储3通道用的指令，在区域174f存储3通道用的发送数据和接收数据。在存储区域174g存储4通道用的指令，在区域174h存储4通道用的发送数据和接收数据。
从而，数据传送控制电路171起进行把总线控制电路12传送来的数据或接收电路173接收的控制器40的操作状态数据和RAM盒式程序卡50的读出数据写入RAM174的写入控制，或根据总线控制电路12的命令读出RAM174的数据传送到总线控制电路12的作用。
图7和图8是控制器40的表面和背面的外观立体图。控制器40呈双手或单手能够掌握的形状，在其外壳的外部形成多个按钮和垂直直立突出的操作部，按按钮即可产生电信号。具体地说，控制器40由上部外壳和下部外壳构成。在控制器40的外壳上，在具有横向较长的平面形状的上表面形成操作区域。在控制器40的操作区域，左侧设置十字形的数字式方向开关(下称“十字开关”)403，在右侧设置多个按钮开关(下面简称“开关”)404A～404F，在横方向的大致中间的部位设置起动开关405，在中央的下部设置可模拟输入的操纵杆45。十字开关403是指示主人公字符或光标的移动方向的方向开关，具有上、下、左、右四各压点，用于指定四个方向的移动。开关404A～404F因游戏软件而不同，例如在射击游戏中用于指示发射导弹的动作，在活动(action)游戏中用于指示跳、踢、取物等各种动作。操纵杆45用于代替十字开关403指示主人公字符的移动方向等，用于能够在360°的全方位指示方向，被作为模拟方向指示开关使用。
在控制器40的外壳中，形成3条手柄402L、402C和402R。手柄402L、402C和402R成棒状，在用手握住时，像手掌与中指、无名指、小指构成的形状，其基部较细，中央较粗，越往自由端(图7的下方)越细。在控制器40的下部外壳的中央上部，从背面突出形成装卸自如地安装作为扩张装置的RAM盒式程序卡50用的插口409。在外壳的上边侧面的左右边，在与游戏者左右食指伸到的位置对应的位置上设置按钮开关406L和按钮406R。在使用操纵杆45代替十字开关403时，在中央手柄402C的根部的背面设置开关407作为具有取代开关406L的功能的开关。
外壳下半部的背面侧在底面方向延长，在其前端形成开口部408。在开口部408的深处设置连接扩张盒式程序卡50的插口(未图示)。又在开口部408形成排出插入开口部408的盒式程序卡50用的柄409。又在上述扩张盒式程序卡50插入的开口部408的柄409的相反一侧形成缺口410，该缺口410形成用柄409取出扩张程序卡50时拉出扩张程序卡用的空间。
图9是控制器40和作为扩张装置的一个例子的RAM盒式程序卡50的详细电路图。在控制器40的外壳内部，为了检测各开关403～407或操纵杆45等的操作状态，并且将其检测数据传送到控制器控制电路17，内藏着操作信号处理电路44等电子电路。操作信号处理电路44包含接收电路441、控制电路442、开关信号检测电路443、计数器电路444、发送电路445、操纵端口(joyport)控制电路446、复位电路447以及或非门448。
接收电路441把控制器控制电路17发送来的控制信号和写入RAM盒式程序卡50的写入数据等串行信号变换为并行信号送给控制电路442。控制电路442在控制器控制电路17送来的控制信号是操纵杆45的X、Y坐标的复位信号时产生复位信号，通过或非门448使包含于计数器444的X轴用的计数器444X和Y轴用的计数器444Y的计数值复位(为0)。操纵杆45包含X轴用的和Y轴用的光遮断器，以发生正比于操纵杆的倾斜量在X方向和Y方向的分量的脉冲，所发生的脉冲信号分别提供给计数器444X和444Y。计数器444X在操纵杆45向X轴方向倾斜时对与该倾斜量相应而产生的脉冲进行计数。计数器444Y在操纵杆45向Y轴方向倾斜时对与该倾斜量相应而产生的脉冲进行计数。从而，可根据由计数器444X和444Y的计数值决定的X轴与Y轴的合成矢量，决定主人公字符或光标的移动方向和坐标位置。还有，计数器444X和444Y在电源接通时根据复位信号发生电路447给出的复位信号，或在操作者预定的两个开关同时被按下时根据开关信号检测电路443给出的复位信号使该计数值复位。
开关信号检测电路443响应控制电路442以一定的周期(例如电视图像的帧周期的1/30秒的时间间隔)给出的开关状态的输出指令信号，读入根据十字开关403、开关404A～404F、405、406L、406R及407的按压状态而变化的信号，将其提供给控制电路442。
控制电路442响应来自控制器控制电路17的操作状态数据的读出指令信号，将各开关403～407的操作状态数据及计数器444X和444Y的计数值以规定的数据格式顺序提供给发送电路445。发送电路445将控制电路442输出的这些并行信号变换为串行数据，通过变换电路43和信号线42传送给控制器控制电路17。
又，在控制电路442连接着地址总线和数据总线，并且通过端口接插件46连接于端口控制电路446。端口控制电路446在作为扩张装置的一个例子的RAM盒式程序卡50连接于端口接插件46时按照CPU11的命令进行数据的输入输出控制(或收发信控制)。RAM盒式程序卡50包含在地址总线及数据总线上连接的、RAM51和作为有关时间的信息的发生手段的一个例子的定时器芯片(tip)(或日历定时器)，在RAM51和定时器计数器上连接着的作为电源的电池52，以及在规定的地址被给定时激活定时器计数器用的解调器(decoder)。RAM51是由具有使用地址总线可能访问的最大存储器的容量的一半以下容量的RAM，例如256k比特的RAM构成的。这是为了在地址总线的最高位比特为“1”时能够读出定时器芯片内的任意计数器的计数值，使RAM的写入、读出地址和定时器芯片的读出地址不重复。这一RAM51是用于存储与游戏有关的后援数据的，即使把RAM盒式程序卡50从端口接插件46拔出也受到电池52的电源支持从而保持着存储数据。RAM51的存储数的种类，数据的写入和存储数据的利用将在下面加以叙述。
图10是表示图像处理装置从控制器40读出表示开关403～407及操纵杆45的各种状态的数据时的数据格式的图解图。由控制器40产生的数据由4字节的数据构成。第1字节的数据表示B、A、G、START、上、下、左、右，即开关404B、404A、407、405及十字开关403的上下左右各点被压时的情况，例如一旦B按钮即开关404B被按，第1字节的最高位比特变成“1”。同样，第2字节表示JSRST、0(在实施例中未使用)、L、R、E、D、C和F，即开关409、406L、406R、404E、404D、404C和404F被压的情况。第3字节以2进制数表示作为与操纵杆45在X方向的倾斜角度相应的值的X坐标(X计数器444X的计数值)。第4字节以2进制数表示作为与操纵杆45在Y方向的倾斜角度相应的值的Y坐标(Y计数器444Y的计数值)。各X、Y坐标分别以8比特的2进制数表示，因此，一旦将其变换为10进制数，则可以用0～255的数值表示操纵杆45的倾斜角度。又，如果最高位比特用一表示负值的特征(signature)表达，则可以把操纵杆45的倾斜角度用-128～127的数值表示。
下面参照图11～图14对在图像处理装置10和控制器40之间收发信的信号格式加以说明。
图11是图像处理装置10为了识别控制器40的类型在图像处理装置10与控制器40之间收发信的信号的格式的图解图。图像处理装置10对控制器40内的控制电路442发送用1字节(8比特)构成的指令“0”的类型数据要求信号，与此相应，接收控制电路442发生的TYPE L(L型)(一字节)、TYPE H(H型)(1字节)以及状态(status)共计3字节的控制器40类型数据信号。这里，TYPE L和TYPE H是表示连接在操纵端口接插件46上的机器的功能的数据。TYPEL和TYPE H数据是存储于RAM盒式程序卡的、RAM盒式程序卡50的每一种类型固有的数据。图像处理装置10根据该数据识别控制器40的类型，即连接于控制器40的RAM盒式程序卡50的类型。作为RAM盒式程序卡50的类型，有例如只搭载RAM51的类型、搭载RAM51和定时器芯片的类型、以及搭载RAM51和液晶显示器的类型，在该实施例中，对搭载RAM51和定时器芯片的类型将进行详细说明。又，状态数据是表示RAM盒式程序卡50等扩张装置是否连接于端口，以及在复位后扩张装置是否连接着的数据。
图12是图像处理装置10为了识别控制器40的操纵状态在图像处理装置10与控制器40之间收发信的信号的格式的图解图。图像处理装置10对控制器40内的控制电路442发送用1字节(8比特)构成的指令“1”的控制器数据要求信号，与此相应，接收控制电路442发生的控制器40的操纵状态数据信号。根据这些操纵状态数据，图像处理装置10认识操作者如何操纵控制器40，并在改变图像上加以利用。对于操纵状态数据信号，由于已经在图10的说明中加以叙述，这里予以省略。
图13是图像处理装置10从连接于控制器40的RAM盒式程序卡50内的RAM51读出数据时的读出数据信号的格式的图解图。图像处理装置10对控制电路442发送用1字节(8比特)构成的指令2的读出指令信号、表示地址的高位比特的地址H(8比特)信号、表示地址的低位比特(3比特)的地址L信号以及核对地址H信号和地址L信号的地址数据发送错误用的地址CRC(5比特)信号，与此相应，接收控制电路442发生的RAM51的存储数据(32字节)信号及核对数据发送错误用的数据CRC(8比特)信号。还有，图像处理装置10要读出定时器芯片的与时间有关的信息，只要使地址H信号的值成为大于80h的值，读出8000h以上的地址即可。
图14是图像处理装置10向连接于控制器40的RAM盒式程序卡50内的RAM51写入数据时的写入数据信号的格式的图解图。图像处理装置10对控制器442发送用1字节(8比特)构成的指令3的写入指令信号、表示地址的高位比特的地址H(8比特)信号、表示地址的低位比特(3比特)的地址L信号以及核对地址H信号和地址L信号的地址数据发送错误用的地址CRC(5比特)信号和应该写入RAM51的32字节的写入数据信号，与此相应，接收控制电路442发生的、核对数据接收错误用的数据CRC(8比特)信号。图像处理装置10接收CRC信号，并将CRC信号与发送的写入数据进行核对，据此判断数据被正确地写入RAM51。还有，图像处理装置10要在定时器芯片上写入与时间有关的信息，例如再设定年月日，只要使地址H信号的值成为大于80h的值，在8000h以上的地址上进行写入即可。
下面对图像处理装置10与控制器40的数据收发信动作进行说明。
首先，参照图15的图像处理装置10的CPU11的流程图对图像处理进行说明。在步骤S11，CPU11根据图3的程序数据区域202存储的初始值(未图示)进行初始设定。接着，在步骤S12，CPU11把存储在程序数据区域202的控制充填数据要求指令输出到控制电路12。接着，在步骤S13，CPU11根据图3的程序数据区域202和图像数据区域201存储的程序进行规定的图像处理。而在CPU执行步骤S13时，总线控制电路12执行步骤S21～S24。接着，在步骤S14，CPU11根据存储于图3的控制充填数据区域141的控制充填数据输出图像数据。步骤14结束后，CPU11反复进行步骤S12～步骤S14。
下面用图16对总线控制电路12的动作进行说明。在步骤S21，总线控制电路12判断CPU是否输出控制器数据要求指令(控制器40的开关数据或扩张装置50的数据等的要求命令)。如果控制器数据要求指令尚未输出，则待机直至输出。如控制器数据要求指令已输出，则转移到步骤S22。在步骤S22，总线控制电路12向控制器控制电路17输出读入控制器40的数据用的指令(后面所示的指令1或指令2等)。接着，在步骤23，总线控制电路12判断控制器控制电路17是否从控制器40接收数据存储于RAM174。如果控制器控制电路17没有从控制器40接收数据存储于RAM174，则总线控制电路12在步骤S23待机，如果控制器控制电路17从控制器40接收数据存储于RAM174，则转移到步骤S24。在步骤S24，总线控制电路12将控制器控制电路17在RAM174存储的控制器40的数据传送到W-RAM14。向W-RAM14的数据传送一结束，总线控制电路12即返回步骤S21，反复进行步骤S21～步骤S24。
还有，图15与图16的流程图表示总线控制电路12从RAM174向W-RAM传送数据后，CPU11处理W-RAM14存储数据的例子，但是，也可以是CPU11通过总线控制电路12直接处理RAM174的数据。
图17是用于说明控制器控制电路17的动作的流程图。在步骤S31，判断有否来自总线控制电路12的写入等待。如果没有写入等待，则数据传送控制电路171待机到有来自总线控制电路12的写入等待为止。如果有写入等待，则在接着的步骤S32，数据传送控制电路171将对第1～第4道的指令和/或数据(下面简称“指令/数据”)存储于RAM174。在步骤S33，第1道的指令/数据被传送到连接于接插件181的控制器40。控制电路442根据指令/数据进行规定的动作，向图像处理装置10输出应该发送的数据。该数据的内容将用控制电路442的动作在后面加以叙述。在步骤S34，数据传送控制电路171接收从控制电路442输出的数据，使该数据存储于RAM。
以後，与在步骤S33和S34的第1道的动作相似，在步骤S35，第2道的指令/数据被发送到控制器40。控制电路442根据该指令/数据进行规定的动作，向图像处理装置10输出应该发送的数据。在步骤S36，进行第2道的数据传送和写入处理。而在步骤S37，第3道的指令/数据被发送到控制器40。控制电路442根据该指令/数据进行规定的动作，向图像处理装置10输出应该发送的数据。在步骤S38，进行第3道的数据传送和写入处理。又在步骤S39，第4道的指令/数据被发送到控制器40。控制器40的控制电路442根据该指令/数据进行规定的动作，向图像处理装置10输出应该发送的数据。在步骤S40，进行第4道的数据传送和写入处理。在接着的步骤S41，数据传送控制电路171将在步骤S34、S36、S38和S40接收的数据全都传送到总线控制电路12。
如上所述，从第1道到第4道的数据，即对连接于接插件181～184的各控制器40的指令和能够从各控制器40读出的操作状态数据在数据传送控制电路171与各控制器40内的控制电路442之间用时间分割处理传送。
图18是用于说明控制器电路44的动作的流程图。首先，在步骤S51，判断指令是否从图像处理装置10输入控制电路442。如果指令没有被输入，则待机到指令输入。一旦指令输入，即在步骤S52判断输入控制电路442的指令是否状态要求指令。在指令“0”的情况下，进入步骤S53，进行状态发送处理。
在步骤S53，在CPU11输出指令“0”的情况下，在图像处理装置10和控制器40之间进行图13所示格式的数据的收发信。这时，控制电路442一旦接收到以1字节构成的指令“0”的数据，即发送TYPE L(1字节)、TYPE  H(1字节)以及状态(status)。在这里，TYPE L(L型)和TYPE H是识别连接于操纵端口接插件46的机器具有怎样的机能的数据，是记录于RAM盒式程序卡50的固有数据。借助于此，图像处理装置10可以认识到是怎样的扩张装置(例如RAM盒式程序卡50或液晶显示器等其他扩张机器)连接于控制器40上。状态是表示在端口是否连接着RAM盒式程序卡50等扩张装置，以及扩张装置是否在复位后连接的数据。
另一方面，一旦在步骤S52判定不是指令“0”，即在步骤S54判断输入的指令是否充填数据要求指令(指令“1”)。在指令“1”的情况下，进入步骤S55，进行充填数据的发送处理。具体地说，在CPU11输出指令“1”的情况下，图12所示格式的数据在图像处理装置10和控制器40之间收发信。这时，控制电路442一旦接收到以1字节(8比特)构成的指令1的数据，即发送B、A、G、START、上、下、左、右、L、R、E、D、C、F共14个开关的数据(16比特)口JSRST(1比特)、计数器444X及计数器444Y的数据(16比特)。将这些数据发送到图像处理装置10以使图像处理装置10认识到操作者是怎样操作控制器40的，在图像处理装置10根据控制器40的操作状态改变图像时加以利用。
在上述步骤S54一旦判定不是指令“1”，即在接着的步骤S56判断输入的指令是否连接于扩张接插件的RAM盒式程序卡50的相关数据的读出要求指令(指令“2”)。在指令“2”的情况下，进入步骤S57进行扩张接插件读出处理。具体地说，在CPU11输出指令“2”的情况下，在图13所示格式的数据在图像处理装置10和控制器40之间收发信。这时，控制电路442一旦接收到以1字节(8比特)构成的指令2的数据，表示地址的高位比特的地址H(8比特)、表示地址的低位比特(3比特)的地址L及用于核对收发信的地址数据差错的地址CRC(5比特)，即根据接收的地址数据发送RAM盒式程序卡存储的数据(32字节)和用于核对数据差错的CRC(8比特)。这样借助于RAM盒式程序卡(或其他扩张装置)与图像处理装置10的连接，图像处理装置10可以处理来自RAM盒式程序卡50等的数据。
在上述步骤S56一旦判定不是指令“2”，即在接着的步骤S58判断输入的指令是否连接于扩张接插件46的RAM盒式程序卡50的相关信息的读出要求指令(指令“3”)。在是指令“3”的情况下，在步骤S59，进行连接于扩张接插件46的RAM盒式程序卡50的数据读出处理。具体地说，一旦CPU11输出指令“3”，作为对该指令的回答，即在图像处理装置10和控制器40之间进行图14所示的数据的收发信。
总之，控制电路442一旦接收到以1字节(8比特)构成的指令3的数据、表示地址的高位比特的地址H(8比特)、表示地址的低位比特(3比特)的地址L、用于核对收发信的地址数据差错的地址CRC(5比特)及应该发送到RAM盒式程序卡50的数据(32字节)，即发送用于核对接收的数据的差错的CRC(8比特)。这样借助于扩张装置50与图像处理装置10的连接，图像处理装置10可以控制扩张装置50。又，这样借助于扩张装置50与图像处理装置10的连接，可以使控制器40的功能大大提高。
在上述步骤S58一旦判定不是指令“3”，即在步骤S60判断是否复位指令(指令255)。在是复位指令(255)的情况下，在步骤61进行操纵杆45的计数器444的复位处理。
具体地说，在CPU11输出指令255的情况下，图19所示的数据在图像处理装置10和控制器40之间收发信。总之，控制器40的控制电路442一接收到1字节(8比特)构成的指令255的数据，即输出复位信号，使X计数器444X和Y计数器444Y复位，发送上述TYPE L(1字节)、TYPE H(1字节)以及状态(status)。
下面对作为本发明的特征的三维空间中摄像机(视点)的迂回(turning-around)加以说明。总之，已有的三维游戏中，当摄像机和操作对象(例如Mario)之间如图20所示存在其他对象(例如墙壁或敌人字符)时，操作对象即Mario用摄像机拍摄不到。对此，采用本发明，可以如图20的虚线所示，可以使摄像机迂回到Mario的侧面，经常继续显示Mario。
简单地说，处于图21所示的状态时，在Mario与摄像机之间的直线上的几点，从Mario一侧起，判断与地形的多边形的冲突。这时，在距离各点为半径R的范围内核查垂直于XZ平面的多边形。然後，对被判定有冲突的多边形P进行摄像机的迂回处理。壁面P由式(1)的平面方程式表示。
Ax+By+Cz+D＝0                     ……(1)
然後，摄像机摄影位置的修正用使摄像机相对于该平面P平行移动的方法进行。平行于该平面的Y轴的角度根据该面的方程式算出。
更详细地说，在图22的最初的步骤S101，使被判定冲突的多边形的编号n初始化(n＝1)。在接着的步骤S102，判断应该核查的多边形的数目N与多边形的编号n是否相等，即判断是否已经对所有的多边形进行过冲突判定。如果在该步骤答复为“否”，则在下一步骤S103进行冲突判定。
图23详细表示步骤S103、即冲突判定程序。在说明该冲突判定程序之前，先把应该进行冲突判定的墙壁数据示于图24和图25。墙壁数据作为图25那样的三角多边形的集合表示如图24，这样的各多边形作为墙壁的多边形的一览表存储于存储器。
在图23的最初的步骤S201，输入点Q(Xg、Yg、Zg)及半径R。又，点Q是应该核对的点，半径R是与墙壁冲突的距离。在接着的步骤S202，使墙壁冲突标志复位。然後，在步骤S203，判断在前面说明过的墙壁多边形一览表是否存储于存储器内。如果有墙壁多边形一览表，则在下一步骤S204判断该多边形是否应该进行摄像机迂回处理的多边形。如果在该步骤判定为“是”，则进入步骤S205。
在步骤S205，根据式(2)计算点Q与墙壁多边形的平面的距离(dR)。
dR＝AXg+BYg+CZg+D            ……(2)
然後，在步骤S206，判定步骤S205计算的dR是否比半径R小。在该距离dR比半径大时，Mario与墙壁不冲突，因此返回前面的步骤S203。
在步骤S206判定为“是”时，即|dR|＜R时，在步骤S207，从点Q向墙壁多边形P引的垂线与墙壁多边形平面连接的点Q’的位置坐标(Xg’、Yg’、Zg’)式(3)计算。
Xg’＝Xg+A×dR
Yg’＝Yg+B×dR
Zg’＝Zg+C×dR             ……(3)
然後，在接着的步骤S208核查点Q’是否在多边形的内侧(范围内)。
在该步骤S208，首先根据墙壁的方向(A的值)决定投影的面。即在A＜-0.707或A＞0.707时投影于图26所示的YZ平面，其他情况下则投影于图26的XY平面。然後，在投影于YZ平面的情况下，判断在图27点Q’是否在多边形P1的内侧。
而在投影于XY平面的情况下，在图28对点Q’与多边形P1的各顶点的坐标判断反时针旋转的矢积(cross product)的正负。总之，在多边形平面方程中的C为C≥0时，如果矢积全部为0或负值，则判定点Q’处于多边形P1内侧。
(Y1-Yq)×(X2-X1)-(X1-Xq)×(Y2-Y1)≤0
(Y2-Yq)×(X3-X2)-(X2-Xq)×(Y3-Y2)≤0
(Y3-Yq)×(X1-X3)-(X3-Xq)×(Y1-Y3)≤0          …(4)
而在C＜0时，如果矢积的结果完全为0或正值，则判定点Q’处于多边形P1内侧。
(Y1-Yq)×(X2-X1)-(X1-Xq)×(Y2-Y1)≥0
(Y2-Yq)×(X3-X2)-(X2-Xq)×(Y3-Y2)≥0
(Y3-Yq)×(X1-X3)-(X3-Xq)×(Y1-Y3)≥0          …(5)
这样在步骤S208核查点Q’是否处于多边形内侧，在步骤S209判断点Q’是否处于多边形内侧。如果在该步骤S209判定为“是”，则将在前面的步骤S202复位的墙壁冲突标志置位(set)(步骤S210)。然後返回图22。
但是上述冲突判定是一个例子，当然也可以使用其他方法进行冲突判断。
返回图22，进行步骤S103的冲突判定后，在步骤S104判断墙壁冲突标志是否被置位(set)。如果在该步骤S104判定为“否”，则不必进行迂回处理，因此，在步骤S105把核查的点的编号n加1，返回步骤S102。
在步骤S104如果判定为“是”，则接着在步骤S106和S107判断是否墙壁的内侧。即判断多边形的方向。多边形是否对着摄像机(视点)，可以调查图29的平面的法线矢量N和视线矢量V的矢积的符号进行判断。其条件由式6给出。
A＝V·N＝VxNx+VyNy+VzNz          ……(6)
然後，如果A≥0，则可判定墙壁朝着摄像机的方向(向外面)，而如果A＜0，则判定墙壁向里面。而如果在摄像机与Mario之间的面向着外面对着摄像机，则不进行图30的摄像机迂回处理。在这种情况下，在步骤S105把点的编号n增加1，返回步骤S102。
如果在摄像机与Mario之间的面向着里面，则在步骤S107判定为“是”，接着在步骤S108和步骤S109进行迂回处理。在步骤S108，根据墙壁的平面方程对摄像机的拍摄位置变更用的移动角度进行计算。即平面上的3点P1(X1、Y1、Z1)、P2(X2、Y2、Z2)和P3(X3、Y3、Z3)决定的平面的方程式用式(7)的多项式表示。
Ax+By+Cz+D＝0
其中，A＝Y1(Z2-Z3)+Y2(Z3-Z1)+Y3(Z1-Z2)
B＝Z1(X2-X3)+Z2(X3-X1)+Z3(X1-X2)
C＝X1(Y2-Y3)+X2(Y3-Y1)+X3(Y1-Y2)
D＝X1(Y223-Z2Y3)+Y1(Z2X3-X223)+Z1(X2Y3-Y2X3)    …(7)
而法线矢量的Y轴的角度Ry以式(8)表示。
Ry＝tan-1(A/C)                                 …(8)
从而，摄像机的迂回角度为Ry+90°或Ry-90°。总之，在步骤S109，摄像机以Mario，即操作对象为中心朝Ry+90°或Ry-90°的方向旋转。具体地说，被移向较接近现在的摄像机位置(图21的C)的地方。
说明对本发明作出了详细说明和图示，但是这只是单纯的图解和用作一个例子，显然不应该理解为限定的意思，本发明的精神及范围只由所附的权利要求的词句限定。

Claims (2)

1.一种三维图像处理装置，能够将从规定的摄影位置对存在于三维空间的操作对象及其他对象进行摄影得到的图像显示于显示器上，其特征在于，
具备：
存储所述操作对象及所述其他对象的数据和规定的程序的外部存储单元、
输入使所述操作对象在所述三维空间的位置发生变化的数据用的输入单元、
根据所述输入单元输入的数据产生操作对象位置数据，使在所述三维空间的所述操作对象的位置改变的操作对象位置数据产生单元、
根据所述外部存储单元存储的数据与所述操作对象位置数据作成三维数据的三维数据生成单元、
产生对所述操作对象摄影用的表示在所述三维空间的摄影位置的摄影位置数据的摄影位置数据产生单元、
检测在所述摄影位置与所述操作对象位置之间是否存在所述其他对象的检测单元、
在所述检测单元检测出所述其他对象存在时变更所述摄影位置数据使所述摄影位置与所述操作对象位置之间不存在所述其他对象的摄影位置数据变更单元、
根据所述三维数据及所述摄影位置数据从所述三维空间的规定的摄影位置拍摄所述操作对象得到的图像显示在显示器上用的显示数据生成用的显示数据生成单元、以及
根据由所述显示数据生成单元生成的显示数据向显示器输出图像信号的图像信号发生单元；
所述检测单元包含判断从所述摄影位置到所述操作对象的直线是否与所述其他对象冲突的冲突判定单元，
所述摄影位置数据变更单元包含设定使所述拍摄位置与所述操作对象的位置之间不存在所述其他对象的移动角度的移动角度设定单元。
2.根据权利要求1或所述的三维图像处理装置，其特征在于，所述其他对象包括墙壁。
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