CN117113452A - Muscle model, construction method thereof and motion simulation method - Google Patents
Muscle model, construction method thereof and motion simulation method Download PDFInfo
- Publication number
- CN117113452A CN117113452A CN202310970829.3A CN202310970829A CN117113452A CN 117113452 A CN117113452 A CN 117113452A CN 202310970829 A CN202310970829 A CN 202310970829A CN 117113452 A CN117113452 A CN 117113452A
- Authority
- CN
- China
- Prior art keywords
- vertex
- fiber
- muscle
- virtual
- model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000003205 muscle Anatomy 0.000 title claims abstract description 207
- 230000033001 locomotion Effects 0.000 title claims abstract description 113
- 238000000034 method Methods 0.000 title claims abstract description 76
- 238000004088 simulation Methods 0.000 title claims abstract description 76
- 238000010276 construction Methods 0.000 title abstract description 20
- 239000000835 fiber Substances 0.000 claims abstract description 197
- 238000013507 mapping Methods 0.000 claims abstract description 47
- 210000001087 myotubule Anatomy 0.000 claims abstract description 40
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 32
- 230000008859 change Effects 0.000 claims description 34
- 230000001133 acceleration Effects 0.000 claims description 26
- 230000005483 Hooke's law Effects 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 11
- 238000009877 rendering Methods 0.000 claims description 5
- 230000001419 dependent effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 12
- 230000009286 beneficial effect Effects 0.000 description 8
- 210000002310 elbow joint Anatomy 0.000 description 6
- 238000004458 analytical method Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000002452 interceptive effect Effects 0.000 description 3
- 210000001519 tissue Anatomy 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 208000012659 Joint disease Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000025712 muscle attachment Effects 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 230000008506 pathogenesis Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000012191 relaxation of muscle Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2111/00—Details relating to CAD techniques
- G06F2111/04—Constraint-based CAD
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Geometry (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Computational Mathematics (AREA)
- Computer Graphics (AREA)
- Software Systems (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention relates to the technical field of virtual simulation, in particular to a muscle model, a construction method thereof and a motion simulation method, wherein the construction method of the muscle model comprises the following steps: creating a muscle mesh model, the surface of the muscle mesh model having a plurality of surface vertices; drawing a muscle fiber routing in the muscle grid model, wherein the muscle fiber routing is provided with a plurality of fiber peaks; establishing a mapping relation between the surface vertex and the fiber vertex; creating vertex association constraints based on the surface vertices, the fiber vertices, and the mapping relationship between the surface vertices and the fiber vertices; based on the relative positions between the muscle mesh model and the bone model, a position-dependent constraint is created. By adopting the construction method, the fiber trend of the simulated muscle is determined, and the simulated pretreatment work can be completed by simply sketching on the muscle model, so that the realism of constructing the muscle model is increased.
Description
Technical Field
The invention relates to the technical field of virtual simulation, in particular to a muscle model, a construction method thereof and a motion simulation method.
Background
Analysis of muscle movement is an important piece of medical education. Learning the movement of muscles can help students to better understand the movement principle of joints of human bodies, and understand the pathogenesis of various joint diseases, so as to master the action mechanism of various rehabilitation treatment schemes fundamentally, thereby playing a role in promoting the actual operation of the students.
Currently, there are three main types of approaches to the simulation of muscle movement: (1) The three-dimensional muscle model is subjected to motion animation production by referring to actual muscle motions through three-dimensional modeling software such as 3DMax, maya and the like, and the muscle motion animation produced by the method is fixed, non-interactive, low in learning freedom degree and quite labor-consuming; (2) The method has the advantages that the accurate numerical simulation is carried out on the muscle movement by a finite element and other numerical analysis method, the calculated amount of the method is large, and the method cannot be used as real-time interactive simulation; (3) The deformation of muscle movement is simulated by a real-time deformation movement simulation method, and the simulation accuracy of the method is relatively low.
Disclosure of Invention
The invention provides a muscle model, a construction method thereof and a motion simulation method, which are used for solving the problem of low real-time simulation reality of muscle motion.
The invention provides a construction method of a muscle model, which comprises the following steps:
creating a muscle mesh model, the surface of the muscle mesh model having a plurality of surface vertices;
drawing a muscle fiber routing inside the muscle grid model, wherein the muscle fiber routing is provided with a plurality of fiber peaks;
establishing a mapping relationship between the surface vertex and the fiber vertex;
creating vertex association constraints based on the surface vertices, the fiber vertices, and a mapping relationship between the two;
a position-related constraint is created based on the relative position between the muscle mesh model and the skeletal model.
Preferably, the muscle grid model is a triangular grid model.
Preferably, the mapping relationship between the surface vertex and the fiber vertex is established, which comprises the following steps:
selecting the muscle fiber routing closest to the surface of the muscle grid model as a target fiber routing;
creating a sphere with the fiber top of the target fiber trace as a sphere center;
performing collision detection on the sphere and the muscle grid model;
establishing a mapping relation between the surface vertex and the fiber vertex according to a collision detection result;
Preferably, the mapping relation comprises a correlation coefficient;
the establishing the mapping relation between the surface vertex and the fiber vertex comprises the following steps:
if the surface vertex X a Is only contained by a sphere with a certain fiber vertex as the sphere center, the surface vertex X is established a Mapping relation with the certain fiber vertex, and the surface vertex X a The correlation coefficient with the certain fiber vertex is: μ=1;
if the surface vertex X a Is comprised by a sphere created by N fiber vertices as the sphere center, then creates the surface vertex X a Mapping relationship with the ith fiber vertex, the surface vertex X a With the ith fiber vertex V i The correlation coefficient of (2) is:
wherein N is more than or equal to 2,is the surface vertex X a With the fiber apex V i Is a distance of (2); />Is the surface vertex X a With the fiber apex V n N=1, 2, …, i, …, N.
Preferably, the creating vertex association constraint based on the surface vertex, the fiber vertex and the mapping relation between the surface vertex and the fiber vertex comprises the following steps:
creating a first virtual spring constraint between two adjacent said surface vertices;
creating a second virtual spring constraint between two adjacent fiber vertices;
a third virtual spring constraint is created between the surface vertex and the fiber vertex based on a mapping relationship between the surface vertex and the fiber vertex.
Preferably, the creating a position association constraint based on the relative position between the muscle grid model and the bone model comprises the steps of:
selecting attachment vertexes of a muscle grid model attached to the bone, limiting the relative positions of the attachment vertexes and the bone to be unchanged, and creating position association constraint.
The construction method of the muscle model provided by the invention has the beneficial effects that: in the construction method provided by the invention, a muscle grid model is created, and the surface of the muscle grid model is provided with a plurality of surface vertexes; the fiber trend of the simulated muscle is determined, the simulated pretreatment work can be completed by simply drawing the muscle fiber wiring inside the muscle grid model, the user is more friendly, the requirement is lower, and meanwhile, the muscle fiber wiring is provided with a plurality of fiber peaks; establishing a mapping relation between the surface vertex and the fiber vertex, and determining the association degree between the surface vertex and the fiber vertex; creating vertex association constraints based on the surface vertices, the fiber vertices, and a mapping relationship between the two; based on the relative positions between the muscle grid model and the bone model, creating position association constraint, simulating the position relationship between the muscle and the bone, and ensuring the association between the bone and the muscle during joint movement; under the combined action of muscle fibers, vertex association constraint and position association constraint, each part of the constructed muscle model has higher association, and the reality of the muscle model is increased.
The invention also provides a muscle model which is constructed by the construction method.
The muscle model provided by the invention has the beneficial effects that: the muscle model has higher reality when simulating muscle movement, and simultaneously meets the requirement of real-time simulation of the muscle movement, and the beneficial effects of the construction method are detailed and are not repeated here.
The invention also provides a motion simulation method of the muscle model, which comprises the following steps:
according to Hooke's law and first spring constraint, calculate the first virtual atress that obtains first virtual spring deformation and be:wherein k is 1 Stiffness coefficient of the first virtual spring; />Representing surface vertex X b And surface vertex X c The current length of the first virtual spring; />Representing an initial length of the first virtual spring; />Representing vertex X b A current coordinate value; />Representing vertex X c Is the current coordinate value of (a);
according to Hooke's law and second spring constraint, calculate the second virtual atress that obtains the deformation of second virtual spring and be:wherein k is 2 Stiffness coefficient of the second virtual spring; />Representing the fiber apex V i With the fiber apex V j The current length of the second virtual spring; />Representing an initial length of the second virtual spring; / >Is the fiber vertex V i A current coordinate value; />Representing the fiber apex V j Is the current coordinate value of (a);
according to Hooke's law and third spring constraint, a third virtual stress for obtaining third virtual spring deformation is calculated as follows:wherein k is 3 Stiffness coefficient of the third virtual spring;is the surface vertex X b With the ith fiber vertex V i The current length of the third virtual spring in between, < >>For the initial length of the third virtual spring, +.>Is the surface vertex X b With the ith fiber vertex V i Correlation coefficient between->Is the surface vertex X b Three-dimensional coordinates of>Is the fiber vertex V i Is a three-dimensional coordinate of (2);
based on the first virtual stress and the third virtual stressCalculating the vector sum of the first virtual stress and the third virtual stress to obtain the surface vertex X b Is the resultant force F of (2) b The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculate the surface vertex X b Acceleration a of (a) b The method comprises the steps of carrying out a first treatment on the surface of the According to the surface vertex X b Acceleration a of (a) b Calculated surface vertex X b Position change amount of (2);
based on the second virtual stress and the third virtual stress, calculating the vector sum of the second virtual stress and the third virtual stress to obtain the fiber vertex V i Is the resultant force F of (2) i The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculating to obtain the fiber vertex V i Acceleration a of (a) i The method comprises the steps of carrying out a first treatment on the surface of the According to the fiber vertex V i Acceleration a of (a) i Calculated fiber vertex V i Position change amount of (2);
judging the vertex X of each surface b Whether the position change amount of (c) is smaller than a first preset threshold delta b And judge each fiber vertex V i Whether the position change amount of (c) is smaller than a second preset threshold delta i If yes, determining that all springs in the muscle model are in a stable state, and ending the motion simulation.
The motion simulation method of the muscle model provided by the invention has the beneficial effects that: the method comprises the steps of simulating active movement of muscles, controlling wiring change of muscle fibers, breaking a balance state of a virtual spring, enabling the virtual spring to generate virtual stress and act on each vertex, calculating resultant force of the virtual stress borne by each vertex, calculating position change quantity of each vertex, comparing the position change quantity with a preset threshold value, determining a stable state of a muscle model, and obtaining a muscle movement simulation result, wherein the specific advantages of the construction method are not repeated herein.
The invention also provides another motion simulation method of the muscle model, which comprises the following steps:
according to Hooke's law and first spring constraint, calculate the first virtual atress that obtains first virtual spring deformation and be: Wherein k is 1 Stiffness coefficient of the first virtual spring; />Representing surface vertex X b And surface vertex X c The current length of the first virtual spring; />Representing an initial length of the first virtual spring; />Representing vertex X b A current coordinate value; />Representing vertex X c Is the current coordinate value of (a);
according to Hooke's law and second spring constraint, calculate the second virtual atress that obtains the deformation of second virtual spring and be:wherein k is 2 Stiffness coefficient of the second virtual spring; />Representing the fiber apex V i With the fiber apex V j The current length of the second virtual spring; />Representing an initial length of the second virtual spring; />Is the fiber vertex V i A current coordinate value; />Representing the fiber apex V j Is the current coordinate value of (a);
according to Hooke's law and third spring constraintThe third virtual stress of the third virtual spring deformation is calculated as follows:wherein k is 3 Stiffness coefficient of the third virtual spring;is the surface vertex X b With the ith fiber vertex V i The current length of the third virtual spring in between, < >>For the initial length of the third virtual spring, +.>Is the surface vertex X b With the ith fiber vertex V i Correlation coefficient between->Is the surface vertex X b Three-dimensional coordinates of>Is the fiber vertex V i Is a three-dimensional coordinate of (2);
Based on the first virtual stress and the third virtual stress, calculating the vector sum of the first virtual stress and the third virtual stress to obtain the surface vertex X b Is the resultant force F of (2) b The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculate the surface vertex X b Acceleration a of (a) b The method comprises the steps of carrying out a first treatment on the surface of the According to the surface vertex X b Acceleration a of (a) b Calculated surface vertex X b Position change amount of (2);
based on the second virtual stress and the third virtual stress, calculating the vector sum of the second virtual stress and the third virtual stress to obtain the fiber vertex V i Is the resultant force F of (2) i The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculating to obtain the fiber vertex V i Acceleration a of (a) i The method comprises the steps of carrying out a first treatment on the surface of the According to the fiber vertexV i Acceleration a of (a) i Calculated fiber vertex V i Position change amount of (2);
judging the vertex X of each surface b Whether the position change amount of (c) is smaller than a first preset threshold delta b And judge each fiber vertex V i Whether the position change amount of (c) is smaller than a second preset threshold delta i If yes, determining that all springs in the muscle model are in a stable state, and ending the motion simulation.
Preferably, the motion simulation method further comprises the steps of:
and visually rendering a motion simulation result of the muscle model.
The motion simulation method of the other muscle model provided by the invention has the beneficial effects that: the method comprises the steps of simulating muscle passive movement, creating position-related constraint, operating bones to change positions, enabling muscle fiber wires to change positions along with the position-related constraint, breaking a virtual spring balance state, generating virtual stress and acting on each vertex, calculating the resultant force of the virtual stress on each vertex, calculating the position change quantity of each vertex, comparing the position change quantity with a preset threshold value, determining the stable state of a muscle model, obtaining a muscle movement simulation result, visually rendering the movement simulation result of the muscle model, and facilitating the user to observe the result, wherein the beneficial effects of the construction method are not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for constructing a muscle model according to an embodiment of the present invention.
Fig. 2 is a flowchart of an embodiment of the present invention.
FIG. 3 is a flow chart of the simulated muscle passive motion provided by the embodiment of the invention
FIG. 4 is a flow chart of simulated muscle active motion provided by an embodiment of the invention
Fig. 5 is an exemplary diagram of a muscular triangular mesh model according to an embodiment of the present invention.
Fig. 6 is a sketch of a muscle fiber routing provided by an embodiment of the present invention.
Fig. 7 is a mapping relationship diagram of surface vertices and fiber vertices provided in an embodiment of the present invention.
Fig. 8 is a virtual spring constraint diagram of a single muscle fiber trace provided by an embodiment of the present invention.
Fig. 9 is a virtual spring constraint diagram of a plurality of muscle fiber traces provided by an embodiment of the present invention.
Fig. 10 is a diagram of a constraint map of the relationship between muscle and bone locations provided by an embodiment of the present invention.
Fig. 11a is a graph showing a first effect of the shoulder anterior flexor muscle movement simulation according to the present invention.
Fig. 11b is a graph showing a second effect of the shoulder anterior flexor muscle movement simulation according to the present invention.
Fig. 11c is a diagram showing a third effect of the shoulder anterior flexor muscle movement simulation according to the present invention.
Fig. 11d is a graph showing a fourth effect of the shoulder anterior flexor muscle movement simulation according to the present invention.
Fig. 12a is a first effect diagram of elbow joint rotary muscle movement simulation provided by an embodiment of the present invention.
Fig. 12b is a graph showing a second effect of elbow joint rotary muscle movement simulation according to an embodiment of the present invention.
Fig. 13a is a graph showing a first effect of shoulder abduction muscle movement simulation provided by an embodiment of the present invention.
Fig. 13b is a graph showing a second effect of the shoulder abduction muscle movement simulation provided by the embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The motion simulation of muscles is an important content of medical education, and three schemes are mainly adopted in the existing motion simulation of muscles:
in the first scheme, the three-dimensional muscle model is subjected to motion animation by referring to actual muscle motions through three-dimensional modeling software such as 3DMax and Maya, the muscle motions generated by adopting the scheme are manually made by an animator in a great amount of time, and the motions of the muscles are fixed when the preparation is completed, so that the motions of the corresponding muscles cannot be changed through the operation of skeletal joints. The muscle movement animation generated by the scheme is fixed and can not be interacted; taking elbow joint buckling motion as an example, after the muscle animation related to the joint motion is constructed through a three-dimensional modeling tool, students can control the progress of animation playing, but the motion simulation of elbow joint extension cannot be performed, the learning freedom degree is low, in addition, when the muscle model related to the elbow joint is changed, the motion animation of the joint is reproduced, cannot be quickly applied to personalized anatomic model data, and is quite labor-consuming, and the reality of the muscle motion completely depends on the technical level of modeling staff (animators).
In the second scheme, the accurate numerical simulation is performed on the muscle movement by a finite element and other numerical analysis method, tetrahedron processing is performed on a muscle model (usually a triangular mesh model) and tetrahedrons are subdivided, and then the deformation of each tetrahedron is simulated by complex parameter setting and a large number of numerical calculations, so that the shape change of the muscle formed by the tetrahedrons is obtained. The muscle movement generated by the scheme has higher numerical precision, but complicated mathematical modeling and preprocessing are needed for the muscle model, so that the requirements on mathematics and computer knowledge of a user are higher, and in addition, the calculated amount of the method is larger, and the method can only be used for offline numerical analysis and cannot be used for real-time interactive simulation.
In a third scheme, the deformation of muscle movement is simulated by a real-time deformation movement simulation method, such as a common spring proton model, a position-based dynamics method and the like, wherein the method is firstly used for carrying out mathematical modeling on a grid model of the muscle, and then the deformation of the muscle model under the action of external force is calculated by applying force or constraint. Although the real-time simulation of the muscle deformation can be realized by the scheme, the simulation accuracy is generally low, the contraction and the relaxation of the relevant muscle along the fiber direction of the muscle are difficult to realize when the joint is flexed and stretched, and the simulation accuracy is relatively low.
Therefore, the problem of low reality in simulating muscle movement is not solved, and the invention provides a muscle model, a construction method thereof and a movement simulation method.
The invention will now be described in further detail with reference to specific examples thereof in connection with the accompanying drawings.
The embodiment of the invention provides a construction method of a muscle model, as shown in fig. 1, the prediction method comprises the following steps:
s110, creating a muscle grid model, wherein the surface of the muscle grid model is provided with a plurality of surface vertexes;
s120, drawing a muscle fiber routing in the muscle grid model, wherein the muscle fiber routing is provided with a plurality of fiber peaks;
s130, establishing a mapping relation between the surface vertexes and the fiber vertexes;
s140, creating vertex association constraints based on the surface vertices, the fiber vertices and the mapping relationship between the surface vertices and the fiber vertices;
s150, creating a position association constraint based on the relative positions between the muscle grid model and the bone model.
In the construction method provided by the embodiment of the invention, a muscle grid model is created, a plurality of surface vertexes are created on the surface of the model, the fiber trend of the simulated muscle is determined, the simple drawing of the muscle fiber wiring is carried out in the muscle model, the simulated pretreatment work can be completed, the method is more friendly to users, the requirement is lower, and the efficiency of simulating the muscle is improved; establishing a mapping relation between the surface vertex and the fiber vertex, and determining the association condition between the surface vertex and the fiber vertex; creating vertex association constraints based on the surface vertices, the fiber vertices, and a mapping relationship between the two; the relative position between the muscle grid model and the skeleton model is used for creating position association constraint, binding the muscle and the skeleton, and linking the muscle and the skeleton; under the combined action of muscle fibers, vertex association constraint and position association constraint, the association between model muscles and muscles, between surfaces, between muscles and surfaces and between muscles and bones is enhanced, so that the establishment of the high-reality muscle model is realized.
In the embodiment of the invention, the muscle grid model is a triangular grid model, the triangular grid model can be obtained in various modes, and meanwhile, fine three-dimensional model details can be represented by using smaller data scale.
In the embodiment of the present invention, step S130 includes the following sub-steps:
s1302, selecting a muscle fiber route closest to the surface of the muscle grid model as a target fiber route;
s1304, creating a sphere with the fiber vertex of the target fiber trace as the sphere center;
s1306, performing collision detection on the sphere and the muscle grid model;
s1308, according to the collision detection result, a mapping relationship between the surface vertex and the fiber vertex is established.
The specific operation is as follows:
if the muscle fiber lines are provided with a plurality of fiber lines, establishing a mapping relation between the surface vertexes and the fiber vertexes by taking the fiber vertexes of the fiber line closest to the surface of the muscle grid model as sphere centers, performing collision detection on the sphere and the muscle grid model;
if the muscle fiber routing has one, a sphere with a fiber vertex as a sphere center is established, collision detection is carried out on the sphere and the muscle grid model, and a mapping relation between the surface vertex and the fiber vertex is established. In fact, when there is one muscle fiber trace, it can be regarded as the fiber trace closest to the surface of the muscle grid model.
In the step, different fiber routes with different numbers are drawn for different muscle models, different mapping relations are established, the intersection between muscle tissues is avoided in a collision detection mode, and the muscle fibers are better simulated.
In the embodiment of the invention, the mapping relation comprises a correlation coefficient; step S1308 includes the following sub-steps:
if the surface vertex X a Only contained by a sphere whose fiber vertex is established as the sphere center, a surface vertex X is established a Mapping relationship with certain fiber vertex and surface vertex X a The correlation coefficient with a certain fiber vertex is: μ=1;
if the surface vertex X a The surface vertex X is established by the N fiber vertices contained by the sphere established by the sphere center a Mapping relationship with ith fiber vertex, surface vertex X a With the ith fiber vertex V i The correlation coefficient of (2) is:
wherein N is more than or equal to 2,is the surface vertex X a With the fiber apex V i Is a distance of (2); />Is the surface vertex X a With the fiber apex V n N=1, 2, …, i, …, N.
In the step, the association coefficient of the vertex of the surface of the muscle and the vertex of the fiber of the muscle is calculated by calculating the normalized distance proportion, and the association degree between the vertex of the surface and the vertex of the fiber is determined.
In the embodiment of the present invention, the step S140 includes the following sub-steps:
S1402 creating a first virtual spring constraint between two adjacent surface vertices;
s1404, creating a second virtual spring constraint between two adjacent fiber vertices;
s1406, creating a third virtual spring constraint between the surface vertex and the fiber vertex based on the mapping relationship between the surface vertex and the fiber vertex.
In the step, virtual springs are created according to three vertex association conditions, so that the movement and deformation of a flexible object can be efficiently simulated, virtual stress is provided for the vertices by subsequent calculation, and different virtual springs are selected according to different association conditions, so that the subsequent analysis and calculation are facilitated.
In the embodiment of the present invention, step S150 includes the following substeps:
s1502, selecting attachment vertexes of the muscle grid model attached to bones, limiting the relative positions of the attachment vertexes and the bones to be unchanged, and creating position association constraints.
In this step, the attachment vertices in the attachment area are selected, and their positions are constrained to constrain the simulated muscle-to-bone attachment relationship, as well as the correlation of bone to muscle movement during articulation.
As can be seen from the foregoing description, in the method for constructing a muscle model, a fiber trace of a muscle may be generated by manually sketching, then a mapping relationship between fiber vertices of the fiber trace and surface vertices may be established by a surface mapping manner, connection between adjacent fiber vertices on the fiber trace, between adjacent surface vertices of the muscle model surface, between fiber vertices of the mapping relationship and surface vertices may be established by a virtual spring, connection between a muscle and a bone may be simulated by setting a position association constraint manner, and intersections between muscle tissues and between a muscle and a bone may be avoided by collision detection and vertex position projection manners.
The embodiment of the invention also provides a muscle model which is constructed based on the construction method of the muscle model, has higher authenticity when simulating muscle movement, and meets the requirement of real-time simulation of the muscle movement.
The embodiment of the invention also provides a motion simulation method, which is used for performing motion simulation on the muscle model and comprises two motion simulation modes, wherein one motion simulation mode is used for simulating active motion of the muscle in real time, and the other motion simulation mode is used for simulating passive motion of the muscle in real time, and the two motion simulation modes are respectively described below.
When simulating the active movement of a muscle in real time, the movement simulation method comprises the following steps:
s302, actively controlling the muscle fiber wiring movement;
s304, according to Hooke' S law and first spring constraint, calculating a first virtual stress of first virtual spring deformation is:wherein k is 1 Stiffness coefficient of the first virtual spring;representing surface vertex X b And surface vertex X c The current length of the first virtual spring; />Representing an initial length of the first virtual spring; />Representing vertex X b A current coordinate value; p is p Xc Representing vertex X c Is the current coordinate value of (a);
s306, calculating a second virtual stress of the second virtual spring deformation according to Hooke' S law and second spring constraint, wherein the second virtual stress is as follows:wherein k is 2 Stiffness coefficient of the second virtual spring; />Representing fiber verticesV i With the fiber apex V j The current length of the second virtual spring; />Representing an initial length of the second virtual spring; />Is the fiber vertex V i A current coordinate value; />Representing the fiber apex V j Is the current coordinate value of (a);
s308, calculating a third virtual stress of the third virtual spring deformation according to Hooke' S law and a third spring constraint, wherein the third virtual stress is as follows:wherein k is 3 Stiffness coefficient of the third virtual spring; />Is the surface vertex X b With the ith fiber vertex V i The current length of the third virtual spring in between, < >>For the initial length of the third virtual spring, +.>Is the surface vertex X b With the ith fiber vertex V i Correlation coefficient between->Is the surface vertex X b Three-dimensional coordinates of>Is the fiber vertex V i Is a three-dimensional coordinate of (2);
s310, based on the first virtualThe virtual stress and the third virtual stress are calculated, and the vector sum of the first virtual stress and the third virtual stress is calculated to obtain a surface vertex X b Is the resultant force F of (2) b The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculate and get the surface vertex X b Acceleration a of (a) b The method comprises the steps of carrying out a first treatment on the surface of the According to the surface vertex X b Acceleration a of (a) b Calculated surface vertex X b Position change amount of (2);
s312, calculating vector sum of the second virtual stress and the third virtual stress based on the second virtual stress and the third virtual stress to obtain a fiber vertex V i Is the resultant force F of (2) i The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculating to obtain fiber vertex V i Acceleration a of (a) i The method comprises the steps of carrying out a first treatment on the surface of the According to the fiber apex V i Acceleration a of (a) i Calculated fiber vertex V i Position change amount of (2);
s314, judging the vertex X of each surface b Whether the position change amount of (c) is smaller than a first preset threshold delta b And judge each fiber vertex V i Whether the position change amount of (c) is smaller than a second preset threshold delta i If yes, determining that all springs in the muscle model are in a stable state, and ending the motion simulation.
In the motion simulation method provided by the embodiment, the active motion of the muscle is simulated, the wiring change of the muscle fiber is controlled, the balance state of the virtual spring is broken, the virtual spring generates virtual stress and acts on each vertex, the resultant force born by each vertex is calculated, the acceleration is calculated, the displacement variation of the point is obtained, compared with a preset threshold value, if the displacement variation is smaller than the threshold value, the virtual spring is determined to enter a stable state, a simulation result is obtained, and the attribute of the muscle fiber tissue is added into an algorithm in a mode of manually drawing the wiring of the muscle, so that the characteristic of deformation of the muscle along the fiber trend can be simulated more truly, the motion simulation method has higher simulation reality, and the beneficial effects of the construction method are not repeated herein in detail.
When simulating the passive movement of a muscle in real time, the movement simulation method comprises the following steps:
s332, controlling the joint movement of bones to enable muscle fiber wires to move passively;
s334, according to Hooke' S law and first spring constraint, calculating a first virtual stress of first virtual spring deformation is:wherein k is 1 Stiffness coefficient of the first virtual spring;representing surface vertex X b And surface vertex X c The current length of the first virtual spring; />Representing an initial length of the first virtual spring; />Representing vertex X b A current coordinate value; />Representing vertex X c Is the current coordinate value of (a);
s336, according to Hooke' S law and second spring constraint, calculating a second virtual stress of second virtual spring deformation is:wherein k is 2 Stiffness coefficient of the second virtual spring; />Representing the fiber apex V i With the fiber apex V j The current length of the second virtual spring; />Representing an initial length of the second virtual spring; />Is the fiber vertex V i A current coordinate value; />Representing the fiber apex V j Is the current coordinate value of (a);
s338, calculating a third virtual stress of the third virtual spring deformation according to Hooke' S law and third spring constraint, wherein the third virtual stress is as follows:wherein k is 3 Stiffness coefficient of the third virtual spring; / >Is the surface vertex X b With the ith fiber vertex V i The current length of the third virtual spring in between, < >>For the initial length of the third virtual spring, +.>Is the surface vertex X b With the ith fiber vertex V i Correlation coefficient between->Is the surface vertex X b Three-dimensional coordinates of>Is the fiber vertex V i Is a three-dimensional coordinate of (2);
s340, calculating vector sum of the first virtual stress and the third virtual stress based on the first virtual stress and the third virtual stress to obtain a surface vertex X b Is the resultant force F of (2) b The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculate and get the surface vertex X b Acceleration a of (a) b The method comprises the steps of carrying out a first treatment on the surface of the According to the surface vertex X b Acceleration a of (a) b Calculated surface vertex X b Position change amount of (2);
S342，based on the second virtual stress and the third virtual stress, calculating the vector sum of the second virtual stress and the third virtual stress to obtain a fiber vertex V i Is the resultant force F of (2) i The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculating to obtain fiber vertex V i Acceleration a of (a) i The method comprises the steps of carrying out a first treatment on the surface of the According to the fiber apex V i Acceleration a of (a) i Calculated fiber vertex V i Position change amount of (2);
s344, judging each surface vertex X b Whether the position change amount of (c) is smaller than a first preset threshold delta b And judge each fiber vertex V i Whether the position change amount of (c) is smaller than a second preset threshold delta i If yes, determining that all springs in the muscle model are in a stable state, and ending the motion simulation.
In the motion simulation method provided by the embodiment, by simulating the passive motion of the muscle, as the position-related constraint is created, the position of the operation skeleton changes, the position of the muscle fiber trace changes along with the position change, the balance state of the virtual spring is broken, the virtual spring generates virtual stress and acts on each vertex, the resultant force of each vertex is calculated, the acceleration is calculated, the displacement variation of the point is obtained, compared with the preset threshold value, if the displacement variation is smaller than the threshold value, the virtual spring is determined to enter a stable state, a simulation result is obtained, and the attribute of the muscle fiber tissue is added into an algorithm in a mode of manually drawing the muscle trace, so that the characteristic that the muscle deforms along the fiber trend can be simulated more truly, the motion simulation method has higher simulation reality, and the beneficial effects of the construction method are detailed and are not repeated here.
In the embodiment of the invention, the motion simulation method further comprises the following steps:
s362, visually rendering the motion simulation result of the muscle model, so that the user can observe the result conveniently.
The working principle or the using method of the embodiment of the invention is further described below with reference to the accompanying drawings:
as shown in fig. 2, the specific steps are as follows:
s210, acquiring a muscle grid model;
s220, drawing muscle fiber wiring;
s230, mapping surface vertexes;
s240, constructing constraints;
s250, simulating muscle movement;
s260, rendering a result.
As shown in fig. 3, in step S250, the simulated muscle passive motion includes the following sub-steps:
s2501, manipulating articulation;
s2503, changing the fiber routing;
s2505, calculating a spring stable position.
As shown in fig. 4, in step S250, the simulated muscle active motion includes the following sub-steps:
s2502, operating the fiber routing;
s2504, calculating a spring stable position;
s2506, calculating the joint stabilizing position.
Fig. 5 is an exemplary diagram of a triangular mesh model of a muscle, specifically, the triangular mesh model of the muscle is obtained by performing image segmentation and three-dimensional reconstruction on a CT image, or by creating three-dimensional modeling software such as 3DMax, maya or Blender.
Fig. 6 is a drawing of a muscle fiber trace, specifically, the surface of the model is provided with a plurality of surface vertices, meanwhile, the muscle model is relatively flat and long, and one fiber trace is drawn, if the muscle model belongs to a short and thick muscle, a plurality of fiber traces can be drawn.
Fig. 7 is a mapping relationship diagram of a surface vertex and a fiber vertex, specifically, a fiber vertex is built on a fiber trace, and the surface vertex and the fiber vertex are built into mapping relationships, each mapping relationship includes a correlation coefficient μ, where the coefficient indicates a degree of correlation between the surface vertex and the fiber vertex. Adopting black dots to represent surface vertexes, red dots to represent fiber vertexes, taking each fiber vertex on a fiber route as a sphere center, placing a sphere with radius of R, performing collision detection by using the sphere and a muscle model, and calculating to obtain all the surfaces in the sphereA surface vertex and a distance between the surface vertex and the sphere center. For example, surface vertex X a To the surface vertex X g Wherein the surface vertex X a 、X e Is only covered by the fiber vertex V 1 Is surrounded by spheres, thus surface vertex X a 、X e Only with the fiber apex V 1 Establishing a mapping relation, wherein the association coefficient is 1.0; surface vertex X c 、X d 、X g Is only covered by the fiber vertex V 2 Is surrounded by spheres, thus surface vertex X c 、X d 、X g Only with the fiber apex V 2 And establishing a mapping relation, wherein the association coefficient is 1.0. Surface vertex X b And X f Surrounded by two spheres simultaneously, then it is assumed that the surface vertex X b From the fiber apex V 1 And fiber apex V 2 The distances of (2) are respectivelyAndthen the surface vertex X b With the fiber apex V 1 Correlation coefficient of-> Surface vertex X b With the fiber apex V 2 Correlation coefficient of->
Fig. 8-10 are related constraint diagrams, comprising two parts: firstly, creating virtual springs between associated vertexes to restrict the morphology of muscles; and secondly, binding part of vertex positions and skeleton positions in the attachment region of the muscles and the skeletons so as to enable the muscles and the skeletons to be linked. Specifically, the following is described:
FIG. 8 is a virtual spring constraint diagram of a single muscle fiber trace, specifically, a first virtual spring is a virtual spring established between adjacent surface vertices of a model surface, e.g., surface vertex X b And surface vertex X a Connected with each other while the surface vertices X b Also with surface vertex X c Connected, then X a X b Between and X b X c Establishing a virtual spring to restrict the position relation between the virtual spring and the virtual spring; the second virtual spring is a virtual spring established between adjacent fiber vertexes on the fiber routing; the third virtual spring is a virtual spring established between the surface vertexes and the fiber vertexes with a mapping relationship so as to support the original shape of the muscle model and enable the vertexes of the related surface model to correspondingly deform when the muscle fiber routing changes; the first, second and third virtual springs are distinguished in different patterns, for example, the first, second and third virtual springs are distinguished in different colors (e.g., red, yellow, green, blue, etc.), or in different line types (e.g., thick solid line, thin solid line, dash line, broken line, etc.).
FIG. 9 is a virtual spring constraint diagram of multiple muscle fiber traces, specifically, when there are multiple fiber traces inside a muscle model, a spring network structure with a hierarchical relationship is constructed according to the distance of the surface vertices. Selecting the vertex on the fiber route closest to the surface of the muscle grid model and the vertex of the surface model to establish a third virtual spring for constraint; a second virtual spring is established between fiber vertexes on adjacent fiber wires positioned inside to restrict; the spring network with the hierarchical structure can simulate the layering of muscle fibers, and has good simulation effect on shorter and thicker muscles.
FIG. 10 is a constraint map of the positional relationship between muscles and bones, specifically, the vertex X on the muscle model z Representing attachment vertices attached to a bone model, maintaining the relative position of the attachment vertices to the bone model constant, i.e. the muscles attach to the bone, the relative positions of the muscles and the bone can be regarded approximately as constant in the attachment region, forThe relative positions of the vertices of the muscle grid attached to the bone model and the vertices nearest to the vertices on the bone model are limited to be unchanged, and the attachment relation of muscles and bones and the correlation of bones and muscle movements during joint movement are simulated through the constraint of the relative positions.
Fig. 11a, 11b, 11c and 11d are views showing simulated effects of muscle movement during the flexion of the shoulder joint, fig. 12a and 12b are views showing simulated effects of muscle movement during the rotation of the elbow joint, and fig. 13a and 13b are views showing simulated effects of muscle movement during the abduction of the shoulder joint, specifically, it can be seen from experimental effects that contraction and relaxation of muscles along the direction of the fibers can be well simulated by constructing a muscle fiber trace; furthermore, by applying position-related constraints at the muscle attachment, the muscle can be controlled to move synchronously with the movement of the bone; when the relative position of bones forming the joint changes, the shape of the muscle changes synchronously, and the frame rate in the whole simulation experiment process is kept at 60 frames/second, which proves that the method has high efficiency in simulating the movement of the muscle and reaches and exceeds the standard (24 frames/second) of real-time simulation.
The embodiment of the invention has higher calculation efficiency, can realize real-time simulation of muscle movement, and supports a user to perform random reasonable control on the joint so as to perform high-degree-of-freedom joint movement and muscle movement learning.
The embodiment of the invention is exemplified by human muscle movement simulation, but the application scope is not limited to human muscle movement simulation, and is applicable to all tissue deformation simulation with similar fiber characteristics.
In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", "front", "horizontal", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the term "mounted" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. A method of constructing a muscle model, comprising the steps of:
creating a muscle mesh model, the surface of the muscle mesh model having a plurality of surface vertices;
drawing a muscle fiber routing inside the muscle grid model, wherein the muscle fiber routing is provided with a plurality of fiber peaks;
establishing a mapping relationship between the surface vertex and the fiber vertex;
creating vertex association constraints based on the surface vertices, the fiber vertices, and a mapping relationship between the two;
a position-related constraint is created based on the relative position between the muscle mesh model and the skeletal model.
2. The method of constructing a muscle model according to claim 1, wherein the muscle mesh model is a triangular mesh model.
3. The method of constructing a muscle model according to claim 2, wherein said establishing a mapping relationship between said surface vertices and said fiber vertices comprises the steps of:
selecting the muscle fiber routing closest to the surface of the muscle grid model as a target fiber routing;
creating a sphere with the fiber top of the target fiber trace as a sphere center;
performing collision detection on the sphere and the muscle grid model;
And establishing a mapping relation between the surface vertex and the fiber vertex according to the collision detection result.
4. A method of constructing a muscle model as claimed in claim 3, wherein the mapping relationship comprises a correlation coefficient;
the establishing the mapping relation between the surface vertex and the fiber vertex comprises the following steps:
if the surface vertex X a Is only contained by a sphere with a certain fiber vertex as the sphere center, the surface vertex X is established a Mapping relation with the certain fiber vertex, and the surface vertex X a The correlation coefficient with the certain fiber vertex is: μ=1;
if the surface vertex X a Is comprised by a sphere created by N fiber vertices as the sphere center, then creates the surface vertex X a Mapping relationship with the ith fiber vertex, the surface vertex X a With the ith fiber vertex V i The correlation coefficient of (2) is:
wherein N is more than or equal to 2,is the surface vertex X a With the fiber apex V i Is a distance of (2); />Is the surface vertex X a With the fiber apex V n N=1, 2, …, i, …, N.
5. The method of constructing a muscle model according to claim 4, wherein the creating of vertex association constraints based on the surface vertices, the fiber vertices, and the mapping relationship therebetween comprises the steps of:
Creating a first virtual spring constraint between two adjacent said surface vertices;
creating a second virtual spring constraint between two adjacent fiber vertices;
a third virtual spring constraint is created between the surface vertex and the fiber vertex based on a mapping relationship between the surface vertex and the fiber vertex.
6. The method of constructing a muscle model according to claim 5, wherein the creating a position-related constraint based on the relative position between the muscle mesh model and the bone model comprises the steps of:
selecting attachment vertexes of a muscle grid model attached to the bone, limiting the relative positions of the attachment vertexes and the bone to be unchanged, and creating position association constraint.
7. A muscle model, characterized in that the muscle model is constructed using the method of any one of claims 1-6.
8. A method for motion simulation of a muscle model constructed by the method of claim 6, comprising the steps of:
actively controlling the muscle fiber wiring movement;
according to Hooke's law and first spring constraint, calculate the first virtual atress that obtains first virtual spring deformation and be: Wherein k is 1 Stiffness coefficient of the first virtual spring; />Representing surface vertex X b And surface vertex X c The current length of the first virtual spring; />Representing an initial length of the first virtual spring; />Representing vertex X b A current coordinate value; />Representing vertex X c Is the current coordinate value of (a);
according to Hooke's law and second spring constraint, calculate the second virtual atress that obtains the deformation of second virtual spring and be:wherein k is 2 Stiffness coefficient of the second virtual spring; />Representing the fiber apex V i With the fiber apex V j The current length of the second virtual spring; />Representing an initial length of the second virtual spring; />Is the fiber vertex V i A current coordinate value; />Representing the fiber apex V j Is the current coordinate value of (a);
according to Hooke's law and third spring constraint, a third virtual stress for obtaining third virtual spring deformation is calculated as follows:wherein k is 3 Stiffness coefficient of the third virtual spring;is the surface vertex X b With the ith fiber vertex V i The current length of the third virtual spring in between, < >>For the initial length of the third virtual spring, +.>Is the surface vertex X b With the ith fiber vertex V i Correlation coefficient between->Is the surface vertex X b Three-dimensional coordinates of>Is the fiber vertex V i Is a three-dimensional coordinate of (2);
Based on the first virtual stress and the third virtual stress, calculating the vector sum of the first virtual stress and the third virtual stress to obtain the surface vertex X b Is the resultant force F of (2) b The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculate the surface vertex X b Acceleration a of (a) b The method comprises the steps of carrying out a first treatment on the surface of the According to the surface vertex X b Acceleration a of (a) b Calculated surface vertex X b Position change amount of (2);
based on the second virtual stress and the third virtual stress, calculating the vector sum of the second virtual stress and the third virtual stress to obtain the fiber vertex V i Is the resultant force F of (2) i The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculating to obtain the fiber vertex V i Acceleration a of (a) i The method comprises the steps of carrying out a first treatment on the surface of the According to the fiber vertex V i Acceleration a of (a) i Calculated fiber vertex V i Position change amount of (2);
judging the vertex X of each surface b Whether the position change amount of (c) is smaller than a first preset threshold delta b And judge each fiber vertex V i Whether the position change amount of (c) is smaller than a second preset threshold delta i If yes, determining that all springs in the muscle model are in a stable state, and ending the motion simulation.
9. A method for motion simulation of a muscle model constructed by the method of claim 6, comprising the steps of:
Controlling the joint movement of bones to enable muscle fiber wires to move passively;
according to Hooke's law and first spring constraint, calculate the first virtual atress that obtains first virtual spring deformation and be:wherein k is 1 Stiffness coefficient of the first virtual spring; />Representing surface vertex X b And surface vertex X c The current length of the first virtual spring; />Representing an initial length of the first virtual spring; />Representing vertex X b A current coordinate value; />Representing vertex X c Is the current coordinate value of (a);
according to Hooke's law and second spring constraint, calculate the second virtual atress that obtains the deformation of second virtual spring and be:wherein k is 2 Stiffness coefficient of the second virtual spring; />Representing the fiber apex V i With the fiber apex V j The current length of the second virtual spring; />Representing an initial length of the second virtual spring; />Is the fiber vertex V i A current coordinate value; />Representing the fiber apex V j Is the current coordinate value of (a);
according to Hooke's law and third spring constraint, a third virtual stress for obtaining third virtual spring deformation is calculated as follows:wherein k is 3 Stiffness coefficient of the third virtual spring;is the surface vertex X b With the ith fiber vertex V i The current length of the third virtual spring in between, < > >For the initial length of the third virtual spring, +.>Is the surface vertex X b With the ith fiber vertex V i Correlation coefficient between->Is the surface vertex X b Three-dimensional coordinates of>Is the fiber vertex V i Is a three-dimensional coordinate of (2);
based on the first virtual stress and the third virtual stress, calculating the vector sum of the first virtual stress and the third virtual stress to obtain the surface vertex X b Is the resultant force F of (2) b The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculate the surface vertex X b Acceleration a of (a) b The method comprises the steps of carrying out a first treatment on the surface of the According to the surface vertex X b Acceleration a of (a) b Calculated surface vertex X b Position change amount of (2);
based on the second virtual stress and the third virtual stress, calculating the vector sum of the second virtual stress and the third virtual stress to obtain the fiber vertex V i Is the resultant force F of (2) i The method comprises the steps of carrying out a first treatment on the surface of the According to Newton's second law, calculating to obtain the fiber vertex V i Acceleration a of (a) i The method comprises the steps of carrying out a first treatment on the surface of the According to the fiber vertex V i Acceleration a of (a) i Calculated fiber vertex V i Position change amount of (2);
judging the vertex X of each surface b Whether the position change amount of (c) is smaller than a first preset threshold delta b And judge each fiber vertex V i Whether the position change amount of (c) is smaller than a second preset threshold delta i If yes, determining that all springs in the muscle model are in a stable state, and ending the motion simulation.
10. A method of motion simulation according to any of claims 8-9, characterized in that the method of motion simulation further comprises the steps of:
and visually rendering a motion simulation result of the muscle model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310970829.3A CN117113452A (en) | 2023-08-03 | 2023-08-03 | Muscle model, construction method thereof and motion simulation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310970829.3A CN117113452A (en) | 2023-08-03 | 2023-08-03 | Muscle model, construction method thereof and motion simulation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117113452A true CN117113452A (en) | 2023-11-24 |
Family
ID=88803035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310970829.3A Pending CN117113452A (en) | 2023-08-03 | 2023-08-03 | Muscle model, construction method thereof and motion simulation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117113452A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117876549A (en) * | 2024-02-02 | 2024-04-12 | 广州一千零一动漫有限公司 | Animation generation method and system based on three-dimensional character model and motion capture |
-
2023
- 2023-08-03 CN CN202310970829.3A patent/CN117113452A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117876549A (en) * | 2024-02-02 | 2024-04-12 | 广州一千零一动漫有限公司 | Animation generation method and system based on three-dimensional character model and motion capture |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2896034B1 (en) | A mixed reality simulation method and system | |
| Berndt et al. | Efficient surgical cutting with position-based dynamics | |
| Wang et al. | Multi-weight enveloping: least-squares approximation techniques for skin animation | |
| US8830269B2 (en) | Method and apparatus for deforming shape of three dimensional human body model | |
| Magnenat-Thalmann et al. | Virtual humans: thirty years of research, what next? | |
| TW201401224A (en) | System and method for performing three-dimensional motion by two-dimensional character | |
| Kim et al. | Haptic interaction and volume modeling techniques for realistic dental simulation | |
| Kim et al. | Dental training system using multi-modal interface | |
| CN103679783A (en) | Geometric deformation based skin deformation method for three-dimensional animated character model | |
| Tonnesen | Dynamically coupled particle systems for geometric modeling, reconstruction, and animation. | |
| CN117113452A (en) | Muscle model, construction method thereof and motion simulation method | |
| WO2023185703A1 (en) | Motion control method, apparatus and device for virtual character, and storage medium | |
| Nedel et al. | Anatomic modeling of deformable human bodies | |
| CN114742952A (en) | Three-dimensional garment simulation method and device, terminal equipment and storage medium | |
| CN110443872B (en) | Expression synthesis method with dynamic texture details | |
| CN109940894B (en) | Convolution surface hybrid modeling method based on finite support radius control | |
| Semwal et al. | Closed form and geometric algorithms for real-time control of an avatar | |
| Romeo et al. | Muscle Simulation with Extended Position Based Dynamics. | |
| CN114267219B (en) | Virtual operation simulation device and simulation system | |
| Wang et al. | Haptic rendering for dental training system | |
| Igarashi | Computer graphics for all | |
| Delacruz et al. | Medical Manikin Augmented Reality Simulation (M2ARS) | |
| Santhanam | Modeling, Simulation, and Visualization of 3D Lung Dynamics | |
| Lam et al. | A study on experimental teaching of 3D animation | |
| Orvalho et al. | Transferring Facial Expressions to Different Face Models. |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |