JP2001060273A - Generating device and editing device of operation data - Google Patents

Abstract

PROBLEM TO BE SOLVED: To generate an optional path in a three-dimensional space and to arrange a single or plural operation data on the path and to connect these data together to secure coincidence between a motion path of an object and the said path by generating the 2nd operation data from the 1st operation data and a 2nd path to show that the object has its motion along the 2nd path. SOLUTION: An operation arrangement means 10 receives the 1st operation data showing that an object has its motion along a 1st path and also receives a 2nd path. Then the means 10 generates the 2nd operation data from the 1st operation data and the 2nd path to show that the object has its motion along the 2nd path. In other words, a path is drawn in a three-dimensional virtual space, the reference position of operation data on the object is set on the path, an attitude angle vector is controlled and the arranged data are connected together. As a result, a motion path can be set in accordance with an optional path that is set in a three-dimensional virtual path. Thus, the obtained operation data can be easily reused.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and a method for generating and / or editing three-dimensional computer graphics (hereinafter referred to as 3DCG) animation.

[0002]

2. Description of the Related Art In recent years, as a field of application of 3DCG, it has become essential to realistically move a living thing such as a human modeled by a rigid articulated object. Such motion is generated by a method using key frame interpolation by people called animators, or by capturing real motion by a three-dimensional motion measurement technique called motion capturing. The motion generated by such a method is generated in units having a minimum meaning as the motion. Therefore, in order to make a series of motions over a long period of time, motion data is generated by connecting these small motions. Also, these techniques
Because of the cost, reuse of the generated data is important.

[0003]

However, simply connecting motions could not match an arbitrary path with a motion path of an object in a three-dimensional virtual space represented by 3DCG. Also, as a method for reusing motion data, Retargetting Motion to NewCharac
ters, Michael Gleicher (Autodesk Vision Technology
Center), but it was necessary for the user to make settings such as constraints after careful consideration.

[0004] The present invention has been made in view of the above problems, and generates an arbitrary path in a three-dimensional space, and arranges and connects one or a plurality of pieces of motion data on the path to form a motion path of the object. With the path.

[0005]

The generator of the present invention receives first motion data indicating that an object moves along a first path and a second path, and receives the motion data and the second motion data. Based on the two paths, there is provided motion arrangement means for generating second motion data indicating that the object moves along the second path, thereby achieving the above object.

[0006] The object is a rigid articulated object, the rigid articulated object has one route and at least one joint, and the first motion data includes position information of the route and information of the route. Posture information.

[0007] The object is a rigid articulated object, the rigid articulated object has one route and at least one joint, and the first motion data includes position information of the route and information of the route. Posture information and the at least one
The information may include slide information on one joint and rotation angle information on the at least one joint.

The position information of the route in the first operation data includes a reference position p (t) and a reference position p (t + Δt), and the position information of the route in the second operation data is Reference position p ′ corresponding to reference position p (t)
(T) and a reference position p ′ (t + Δt) corresponding to the reference position p (t + Δt), and the distance between the reference position p (t) and the reference position p (t + Δt) is equal to the reference position p ′.
It may be correlated with the distance between (t) and the reference position p ′ (t + Δt).

The attitude information of the route in the first motion data has an attitude vector v (t), and the attitude information of the route in the second motion data is an attitude vector v ′ (t).
And the motion arranging means includes the posture vector v
(T) may be generated as the posture vector v ′ (t).

The attitude information of the route in the first motion data has an attitude vector v (t), and the attitude information of the route in the second motion data is an attitude vector v ′ (t).
And the motion arranging means includes the posture vector v
Based on (t) and the second pass, the posture vector v ′
(T) may be generated.

[0011] The attitude information of the route of the second motion data includes an attitude vector v '(t), and the motion arranging means includes an initial attitude vector v' (t ₀ ) and a final attitude vector v '. receive (t _e), the initial attitude vector v '(t ₀₎ and the final posture vector v'
Based on the (t _e), the period t ₀ ~t _e posture vector v '
(T).

[0012] The generating apparatus may further include a path generating means for generating the second path.

[0013] The path generating means may receive the plurality of position information and generate the second path by interpolating the plurality of position information.

[0014] The path generating means may include a display device and a pointing device capable of displaying a three-dimensional space, and a locus drawn in the three-dimensional space by the pointing device may be used as the second path.

[0015] The generation device may further include a display device for displaying the second operation data.

The operation data editing apparatus of the present invention receives two operation data each having position information, and receives the two operation data.
A part of the path of one of the two operation data or a part of the path of the other one of the two operation data is changed, and the path of one of the two operation data and the path of the two operation data are changed.
The other operation data path is connected, and the position information of the two operation data is relocated on the connected path, thereby achieving the above object.

The reference position p (t) and the reference position p
The distance to (t + Δt) may be substantially equal to the distance between the reference position p ′ (t) and the reference position p ′ (t + Δt).

The motion data generating method according to the present invention includes a step of receiving first motion data indicating that an object moves along a first path and a second path, and a step of receiving the motion data and the second path. Generating second motion data indicating that the object moves along the second path, based on the second path, thereby achieving the above object.

[0019] The computer readable recording medium of the present invention comprises: receiving first motion data indicating that an object moves along a first path; and receiving a second path;
Generating a second motion data indicating that the object moves along the second path based on the motion data and the second path. Thereby, the above object is achieved.

The method of generating motion data according to the present invention includes the steps of receiving first motion data indicating that an object moves along a first path, generating a second path, and generating the second path. Receiving a path, and generating second motion data indicating that the object moves along the second path based on the motion data and the second path, Thereby, the above object is achieved.

[0021] The computer readable recording medium of the present invention comprises the steps of: receiving first motion data indicating that an object moves along a first path; generating a second path; Receiving the second path, and generating second motion data indicating that the object moves along the second path based on the motion data and the second path. A program to be executed by the computer, thereby achieving the above object.

[0022]

Embodiments of the present invention will be described below with reference to the drawings.

In computer graphics / animation, motion data necessary for moving an object such as a human or a living being modeled by a rigid articulated object is generally given as time-series data.

FIG. 1 is a diagram showing the concept of the present invention. In the present invention, the second operation data is created based on the known first operation data and the second path that can be arbitrarily given.

The first operation data is the object 1 shown in FIG.
Means the data necessary to represent the object 1 in 3D CG when it moves along the movement path, that is, the first path, and the second path means moving the object 1 in a three-dimensional space. Meaning a new movement path. That is, the second motion data means data necessary for representing the object 1 in 3DCG when the object 1 moves along a second path that can be arbitrarily given.

According to the present invention, when a desired second path is given, the second movement data of the object 1 moving along the desired second path is calculated from the known first movement data of the object 1. Is obtained. For this reason, according to the present invention, using the motion data representing the motion of the object which already exists,
Motion data obtained by moving a path different from the original path to the object can be obtained. By applying the present invention, it is possible to edit two discontinuous operation data as if they were continuous operation data.

(First Embodiment) A configuration for generating second motion data of the object 1 moving along the second path from the first motion data of the object 1 shown in FIG. Will be described with reference to FIG.

FIG. 2 is a diagram showing the operation arranging means 10 according to the first embodiment.

The motion arranging means 10 includes a first motion data indicating that the object 1 moves along the first path, and a second motion data.
Receive the pass. The motion arranging unit 10 generates second motion data indicating that the object 1 moves along the second path based on the first motion data and the second path.
The operation arranging unit 10 may be configured by a system shown in FIG.

Hereinafter, the above-described object 1 and the operation data of the object 1 will be described with reference to FIG. 3 and FIG.

FIG. 3 is a diagram showing a humanoid type rigid joint object 20 which is an example of the object 1. FIG.
3 is a diagram clarifying a plurality of joints of the rigid joint object 20 shown in FIG.

The motion data includes position information of the rigid joint object 20, posture information of the rigid joint object 20, slide information of a plurality of joints of the rigid joint object 20, and rotation angle information of a plurality of joints of the rigid joint object 20. ing. The position information indicates the position of the rigid joint object 20 in a three-dimensional space, and the position of the rigid joint object 20 can be represented by, for example, a world coordinate system (x-axis direction, y-axis direction, and z-axis direction). . The posture information can be represented by a posture vector, and the posture vector includes a traveling direction vector, an upward vector, and a lateral vector. The slide information indicates the amount and direction in which the joint connecting the rigid bodies slides.

More specifically, the motion data is used to control time-series data p (t) of three-dimensional coordinate values (reference positions) representing the position of the entire object and to control the attitude of the entire object. Time series data v of three attitude angle vectors
(T), and time series data ρ (t) of a slide vector representing an amount of parallel movement used for motion control of each joint and time series data θ (t) of a joint angle representing an amount of rotation. Operation data M (t) = [p (t), v (t), ρ
(T), θ (t)]. Here, t indicates time.

Note that, as shown in FIG.
When 0 has a route, the position information of the rigid joint object 20 may be the position information of the route. Further, since the route represents a position serving as a reference of the rigid joint object 20, the position of the route may be referred to as a reference position. In addition, rigid joint object 2
The posture information of 0 may be the posture information of the route.

The basic operation of the operation arranging means 10 shown in FIG. 2 will be described below with reference to FIGS.

FIG. 5 shows first operation data Mi (t) given in advance and generated second operation data MMi.
FIG. 6 is a diagram illustrating a relationship with (t), and FIG. 6 is a diagram illustrating a process in which the operation arrangement unit 10 generates the second operation data MMi (t).

The first operation data Mi (t) has a reference position p (t) at time t and a reference position p (t + Δt) at time t + Δt, and the second operation data MMi.
(T) is a reference position p ′ corresponding to the reference position p (t).
(T) and a reference position p ′ (t + Δt) corresponding to the reference position p (t + Δt).

A reference position p (t) and a reference position p (t + Δt) are arranged along the first path. The motion arranging unit 10 determines whether the reference position p (t) and the reference position
+ Δt) and the second operation data Mi (t)
Is received along the second path, the reference position p
The reference position p ′ (t) corresponding to (t) and the reference position p (t
+ Δt) and a reference position p ′ (t + Δt) corresponding to the reference position. Here, the distance l ′ between the arranged reference position p ′ (t) and the reference position p ′ (t + Δt) is equal to the reference position p ′.
It is correlated with the distance 1 between (t) and the reference position p (t + Δt). That is, the distance l ′ is a function of the distance l (l ′ = f
(L)) may be used. For example, the distance l 'may be approximately equal to the distance l, or the distance l' may be approximately twice the distance l.

More specifically, as shown in FIG. 6, in step S1, the operation arranging means 10 sets the first operation data Mi.
In (t), the distance d between the reference position p (t) at time t and the reference position p (t + Δt) at time t + Δt is determined. In step S2, the motion arranging means 10 calculates a spherical area having a radius d around the reference position p '(t) at the time t in the second motion data MMi (t).

In step S3, the operation arrangement means 10
A point at which the calculated spherical area intersects the second pass is calculated. In step S4, the motion arranging unit 10 determines a point in the traveling direction of the second path among the intersections between the spherical area and the second path as the reference position p ′ (t + Δt).

By the above-described steps, the first operation data Mi (t) is replaced with the second operation data MMi (t) existing on the second path.

As described above, the operation data includes not only the reference position but also the posture angle vector. They are related by the reference position and t. Also, the reference position p of the first operation data Mi (t)
Not only (t) but also a change may be made to the posture angle vector v (t) of the first motion data Mi (t).

Hereinafter, the generated second operation data MM
The attitude angle vector v ′ (t) of i (t) is shown in FIGS.
A, FIG. 8B and FIG.

FIG. 7 is a diagram showing an example of the attitude angle vector v '(t) of the second motion data MMi (t) when the attitude angle vector is not controlled. The posture angle vector v '(t) of the second motion data MMi (t) is the posture angle vector v (t) of the first motion data Mi (t).
(Not shown). In this case, the posture angle of the object does not change.

FIG. 8A shows the second motion data MM when the attitude angle vector v (t) (not shown) of the first motion data Mi (t) is changed based on the second path.
FIG. 8B is a diagram illustrating an example of the attitude angle vector v ′ (t) of i (t), and FIG. 8B is a diagram in which the attitude angle vector v (t) of the first motion data Mi (t) is projected on an xy plane. FIG. 14 is a diagram showing a projection vector Vmap (t) in the case.

A method of generating a posture angle vector v ′ (t) obtained by changing the posture angle vector v (t) (not shown) of the first motion data Mi (t) based on the second path is as follows. A vector in the tangential direction of the reference position p ′ (t) on the second pass may be used as the posture angle vector v ′ (t). For example, a projection vector Vmap obtained by projecting the attitude angle vector v (t) on the xy plane is generated. next,
The projection vector Vmap is projected on the contact plane at the reference position p ′ (t) on the second path, and the reference position p ′
A posture angle vector v ′ (t) starting from (t) may be generated. It should be noted that the posture angle vector v (t) is represented by x−
The magnitude of the vector projected on the y plane is equal to the magnitude of the vector of the attitude angle vector v ′ (t) projected on the xy plane.

FIG. 9 shows an example of the attitude angle vector v '(t) when the attitude angle vector v' (t) of the second motion data MMi (t) is controlled independently of the second path. FIG. As shown in FIG. 9, the initial attitude angle vector v in the second pass 'and (t _0), the last posture angle vector v in the second path' (t _e) is given in advance. In this case, the posture angle vector between time t ₀ and time t _e is the initial posture angle vector v ′ (t ₀ )
To be interpolated based on the last attitude angle vector v '(t _e).

The process in which the motion arranging means 10 generates the attitude angle vector v '(t) will be described below with reference to FIG.

In step S11, based on an instruction from the user or the like, the operation arranging means 10 sets the posture angle vector v '
It is determined whether or not to control (t). In FIG. 2,
A signal line for receiving a signal indicating an instruction from a user is omitted. When controlling the posture angle vector v ′ (t), the process proceeds to step S12, and the posture angle vector v ′ (t) is controlled.
If (t) is not controlled, the process proceeds to step S13.
In step S13, the posture angle vector v (t) is generated as a posture angle vector v '(t).

In step S12, based on an instruction from the user or the like, the motion arranging means 10 sets the posture angle vector v '.
It is determined whether or not (t) is controlled independently of the second pass. If the attitude angle vector v ′ (t) is controlled independently of the second path, the process proceeds to step S14. If the attitude angle vector v ′ (t) is not controlled independently of the second path, the process proceeds to step S14. Goes to step S15.

In step S15, the operation arranging means 10
Generates an attitude angle vector v ′ (t) according to the attitude angle vector v (t) and the second pass. As described above, the projection vector Vmap obtained by projecting the attitude angle vector v (t) on the xy plane is generated. Next, the projection vector Vmap is projected on the contact plane at the reference position p ′ (t) on the second path, and an attitude angle vector v ′ (t) starting from the reference position p ′ (t) is generated. You may. The magnitude of the vector obtained by projecting the attitude angle vector v (t) on the xy plane is equal to the attitude angle vector v ′.
(T) is equal to the magnitude of the vector projected on the xy plane.

In step S14, the operation arranging means 10
Is the initial attitude angle vector v ′ (t ₀) And final posture
Angle vector v '(t_eBy interpolating between
Time t ₀From time t_eAttitude angle vector v ′
(T) is generated. The interpolation method is shown in FIG.
Use not only linear interpolation but also 3D spline interpolation
May be.

(Second Embodiment) A generator according to a second embodiment will be described below with reference to FIG. FIG.
FIG. 7 is a diagram illustrating a generation device 40 according to the second embodiment.

The generating device 40 shown in FIG. 11 includes the operation arranging unit 10 and the path generating unit 30 for generating the second path. Operation arranging means 10 in the second embodiment
Is the same as the configuration of the operation arranging means 10 in the first embodiment, and the description thereof will be omitted. Note that the generation device 40 may be configured by the system shown in FIG.

An operation example (method 1) in which the path generation means 30 generates the second path will be described below.

The path generating means 30 generates path data by sequentially interpolating between the control points with respect to the coordinate sequence of the control points (P _{0 to} P _n ) input from the input terminal. The coordinate sequence of the control points (P ₀ ~P _n) may be stored in a storage unit such as path database.

The control points Po, P ₁ ,..., P _n have s =
Assuming that 0, s = 1,... S = n correspond, the coordinates after interpolation between the control points are x (s) = F (x ₀ ,.
_{x n, s), y (} s) = F (y 0, ..., y n, s), z (s)
= F (z ₀ ,..., Z _n , s). here,
F is a function using the real number s as a parameter. Also, the function F used for interpolation can be changed depending on the number of control points. When the number of control points is two, the function F is a function for performing linear interpolation. When the number of control points is three, The function F is a function for performing quadratic curve interpolation. When the number of control points is four or more, the function F is a function for performing cubic spline interpolation.

In the case of interpolating between the control point P _i and the control point P _{i + 1} , if Δs = s−i, x (Δ
s) = x _i + α _i × Δs, and in the case of quadratic curve interpolation, x
(Δs) = x _i + Δs × (α _i + Δs × β _i ), and 3
In the case of the next spline interpolation, x (Δs) = xi + Δs ×
(Αi + Δs × (βi + Δs × γi)).

Although only the x coordinate is described here, the y coordinate and the z coordinate can be similarly described as the x coordinate. The generated path data corresponds to each interpolation function.
These are coordinate values obtained by interpolating interpolation coefficients α _i , β _i , and γ _i . FIG.
2 is a diagram showing an interpolated value between x _{i + 1} is the x _i and the control point P _{i + 1} of the x-coordinate is the x coordinate of the control point P _i by the linear interpolation. As described above, the path generation unit 30
Can generate the second path by interpolating the control points (P _{0 to} P _n ) input from the input terminals.

Hereinafter, another operation example (method 2) in which the path generating means 30 generates the second path will be described with reference to FIG.

FIG. 13 is a block diagram showing the path generating means 30 shown in FIG.
FIG. 5 is a diagram showing a three-dimensional virtual space and a path input window displayed on a display device 45 of the computer shown in FIG. The second path is three-dimensionally represented in the three-dimensional virtual space, and a path obtained by projecting the second path onto the xy plane is represented in the path input window. The display device 45 included in the path generation unit 30 can display a path obtained by projecting the second path on the xz plane, a path obtained by projecting the second path on the yz plane, and the like.

The user uses the pointing device, such as a mouse, to generate the second path through the path generation means 30.
Can be entered. In this case, the user can check the generated second path while viewing the display device 45. For example, the user can set the second path of the object 1 while avoiding the obstacles 2 and 3 arranged in the three-dimensional virtual space. Note that a path input window may be used to fine-tune the second path.
For example, when the trajectory of the second path shown in the path input window shown in FIG. 13 is modified, the trajectory of the second path in the three-dimensional virtual space is also modified.

The path generation means 30 is connected to the display device 45 described above.
Is provided, the user can determine the second path while checking the position of the second path in the three-dimensional virtual space.

(Third Embodiment) The operation arrangement means in the third embodiment will be described below with reference to FIG. FIG. 14 is a diagram illustrating the operation arranging unit 50 according to the third embodiment. The operation arrangement unit 50 can make discontinuous operation data continuous.

The operation arranging means 50 receives the operation data Mi to the operation data Mi + n, and generates operation data MM in which the operation data Mi to the operation data Mi + n are connected.
The principle is based on the operation arranging means 10 in the first embodiment.
Utilizes the generation of the second operation data in accordance with the second path and the first operation data. The operation arranging unit 50 may be configured by the system shown in FIG.

The operation of connecting the operation data by the operation arranging means 50 will be described below with reference to FIGS.

FIG. 15 shows the operation data MM obtained by connecting the operation data Mi to the operation data Mi + 2 according to the first method.
FIG.

[0068] For example, the reference position of the operation data 61 of the last time the operating data Mi (a point on the path), as the path to the operating data Mi + 1 is connected, on the basis of the reference position, time t _a ~ Operation data Mi at time t _b
By modifying the +1 path, a second path is generated. For example, the reference position of the operation data 61 of the last time the operation data Mi, above the position of the operation data Mi + 1 pass at time t _a ~ time t _b (including at least a position of the operation data Mi + 1 pass at time t _b) The second pass may be generated by using the interpolation method described above.

As in the first embodiment described above, the operation arranging means 50 converts the changed operation data 62 based on the generated second path and the operation data Mi + 1 from time t _a to time t _b . Generate.

FIG. 16 shows the operation data MM obtained by connecting the operation data Mi to the operation data Mi + 2 according to the second method.
FIG.

For example, based on the reference position (point on the path) of the operation data 71 at the initial time of the operation data Mi + 1, the time t _c- operating data Mi at time t _d
Is modified to generate a second path. For example, the reference position of the operation data 71 of the initial time of the operation data Mi + 1, the above-described the position of the operation data Mi at time t _c ~ time t _d (including at least the position of the path of motion data Mi at time t _c) interpolation By using the method, a second pass may be generated.

Similarly to the above-described first embodiment, the operation arranging unit 50 converts the changed operation data 72 based on the generated second path and the operation data Mi from time t _c to time t _d . Generate.

FIG. 17 shows operation data MM obtained by connecting operation data Mi to operation data Mi + 2 by the third method.
FIG.

[0074] For example, the reference position of the operation data at time t _f of operation data Mi (a point on the path), and the reference position of the operation data of the operation data Mi + 1 at time t _h (a point on the path) connected as it will be, based on their reference position, by modifying the operation data Mi and operation data Mi + 1 pass at time t _f ~ time t _h, the second pass is generated. For example, the position of the path of motion data Mi at time t _f ~ time t _g (including at least the position of the path of motion data Mi at time t _f), the position of the operation data Mi + 1 pass at time t _g ~ time t _h by using the interpolation method described above in (at least including the position of the operation data Mi + 1 pass at time t _h), the second pass may be generated.

[0075] Similar to the first embodiment described above, operates arrangement means 50, on the basis of the operating data Mi and Mi + 1 in the second pass and the time t _f ~ time t _h generated, changed behavior data 71 is generated.

(Fourth Embodiment) An operation data editing apparatus 100 according to a fourth embodiment will be described below with reference to FIG.

FIG. 18 is a diagram showing the operation data editing device 100.

A motion data editing apparatus 100 for a rigid articulated object in a three-dimensional virtual space shown in FIG. 18 includes a path control point input means 101 and a path edit data input means 102.
Path control point editing means 103, path database means 104, path generation means 30, path output means 106
Path checking means 107, action selecting means 108, action deleting means 109, action adding means 110, action editing data input means 111, action editing means 112, action database means 113, action placement means 114 , Operation connection means 115, operation output means 116, and operation confirmation means 117. The operation data editing device 100 may be configured by the system shown in FIG.

As described above, here, the operation data is expressed as M (t) = [p (t), v (t), ρ (t), θ (t)].

The path control point input means 101 calculates the coordinates of each control point from the coordinate sequence (P ₀ (x ₀ , y ₀ , z ₀ )) to P _n (x _n , y _n , z _n ). Column). The control points are
This is used to generate the above path. The input coordinate sequence of the control points is supplied to the path database unit 104 and the path generation unit 105.

The path edit data input means 102 performs editing content input processing for editing the coordinate sequence of the control points. Edit contents include move, add, and delete. In the case of movement, the path edit data input means 102 performs input processing of an index i of a coordinate sequence indicating a control point to be moved and coordinates (x, y, z) of the moved control point. In the case of addition, an input process of an index i of a coordinate sequence indicating a place to be added and coordinates (x, y, z) of a control point to be added is performed. In the case of deletion, the path edit data input means 102 performs an input process of an index i of a coordinate sequence indicating a control point to be deleted. The input editing content is supplied to the path control point editing means 103.

The path control point editing means 103 obtains control point coordinate strings P ₀ -P ₀ obtained from the path database means 104.
For P _n , the coordinate sequence of the control point is edited based on the editing content input by the path editing data input unit 102. In the case of movement, the path control point editing means 103 replaces the i-th element P _i of the coordinate sequence with the coordinates (x, y, z) of the moved control point. In the case of addition, the path control point editing means 103
Shifts the indexes of the coordinate strings P _{i to} P _n backward by one and substitutes the coordinates (x, y, z) of the control point to be added as the i-th element. In the case of deletion, the path control point editing means 103 deletes the coordinate sequence P _i and deletes the coordinate sequences P _{i + 1 to} P _{i + 1.
Moves} the index up to _n one step forward. The coordinate sequence of the newly generated control points is stored in the path database
Supplied to

The path database unit 104 acquires and stores the coordinate sequence of the control points edited by the path control point editing unit 103 and the coordinate sequence of the control points used by the path generation unit 30. The stored coordinate sequence of control points is supplied to the path control point editing unit 103, the path generation unit 30, and the path output unit 106.

The operation of the path generating means 30 of the present embodiment is as follows.
Since the operation is the same as that of the path generation unit 30 of the second embodiment, the description is omitted.

The path output means 106 acquires and outputs a coordinate sequence of control points stored in the path database means 104. Further, the path output means 106 is provided for the path generation means 3.
From 0, the generated path data is obtained and output.

The path confirmation means 107 is provided for the path generation means 30
From the obtained path data, generate coordinate values of points to be drawn using the generated path data, and use a general method of visualizing the coordinates on a computer display. Display paths in virtual space.

The operation selecting means 108 includes the path generating means 30
A process of selecting operation data to be arranged in the path generated by is performed. Further, the operation selecting unit 108 supplies the selected operation data to the operation arranging unit 114.

The operation deleting unit 109 is provided with the operation selecting unit 10.
With respect to the operation data M0 (t) to Mm (t) selected in step 8, the i-th specified operation data Mi (t) is excluded from selection targets. Further, the operation deleting means 109
The index numbers are shifted forward one by one from Mi + 1 (t) to Mm (t). The selected operation data is M0
(T) to Mn (t) (n = m−1). In addition, the operation deleting unit 109 supplies the selected operation data to the operation arranging unit 114.

The operation adding means 110 includes the operation selecting means 10
With respect to the motion data M0 (t) to Mm (t) selected in 8, the specified motion data is added as a selection target at the i-th position. The operation adding means 110 determines whether the original Mi
The index numbers from (t) to Mm (t) are shifted backward one by one. The selected operation data is M0
(T) to Mn (t) (n = m + 1). Further, the operation adding unit 110 supplies the selected operation data to the operation arrangement unit 114.

The action edit data input means 111 performs an edit content input process for editing the attribute of the action data. Attributes include designation of whether or not to independently control the attitude angle vector at the time of placement on a path, and an initial angle and a final angle of the attitude angle vector when performing independent control. Further, the operation editing data input unit 111 supplies the received editing content to the operation editing unit 112.

The action editing means 112 includes the action arranging means 11
4, selected operation data M0 (t) to Mn
For (t), the attribute is edited based on the contents input by the operation editing data input unit 111. Further, the operation editing unit 112 supplies the attribute of the edited operation data to the operation database unit 113.

The operation database means 113 stores the attributes of the operation data M0 (t) to Mn (t) edited by the operation editing means 112 and used by the operation arrangement means 114. Further, the operation database unit 113 supplies the stored attributes to the operation arrangement unit 114.

The operation arranging means 114 outputs the operation data M0
For (t) to Mn (t), the reference position p (t) at a certain time point t and the reference position p (t + Δt) at t + Δt are given by
Rearrange them at p ′ (t) and p ′ (t + Δt) on the path. The operation of the operation arranging unit 114 is substantially the same as the operation of the operation arranging unit 10 according to the first embodiment, and a detailed description thereof will be omitted.

The operation connection means 115 connects the operation data MM0 (t) to MMn (t) arranged on the path by the operation arrangement means 114 by the method described in the fourth embodiment.

The operation output means 116 is connected to the operation connection means 11.
The operation data connected in step 5 is acquired and output.

The operation confirming means 117 includes the operation arranging means 11
4 or the operation connection means 11
The motion data connected in step 5 is used to display a character using a general technique in the field of three-dimensional computer graphics animation for visualizing the operation of a skeleton model on a computer display, and furthermore, the character is displayed in a three-dimensional virtual space. To work within.

Note that a computer-readable recording medium may record a program for causing a computer to execute at least one of the first to fourth embodiments.

[0098]

According to the present invention, a path (trajectory) is drawn in a three-dimensional virtual space, a reference position of the motion data of the object is arranged thereon, a posture angle vector is controlled, and the arranged motion data is , The movement path can be arranged in accordance with an arbitrary path in the three-dimensional virtual space. It is possible to easily reuse motion data obtained by a high-cost motion capture or a method using key frames by an animator.

[Brief description of the drawings]

FIG. 1 is a diagram showing the concept of the present invention.

FIG. 2 is a diagram showing an operation arrangement unit 10 according to the first embodiment.

FIG. 3 is a diagram showing a humanoid rigid joint object 20, which is an example of the object 1. FIG.

4 is a view showing a plurality of joints of the rigid joint object 20 shown in FIG.

FIG. 5 shows first operation data Mi given in advance.
FIG. 10 is a diagram illustrating a relationship between (t) and generated second operation data MMi (t).

FIG. 6 is a block diagram showing a configuration of the operation arranging means 10 according to an embodiment;
It is a figure which shows the process which produces | generates (t).

FIG. 7 shows a posture angle vector v ′ of second motion data MMi (t) when the posture angle vector is not controlled.
It is a figure showing an example of (t).

FIG. 8A is the attitude of second motion data MMi (t) when attitude angle vector v (t) (not shown) of first motion data Mi (t) is changed based on a second path. It is a figure showing an example of angle vector v '(t).

FIG. 8B is a diagram showing a projection vector Vmap (t) when the attitude angle vector v (t) of the first motion data Mi (t) is projected on an xy plane.

FIG. 9 is a diagram illustrating an example of the attitude angle vector v ′ (t) when the attitude angle vector v ′ (t) of the second motion data MMi (t) is controlled independently of the second path. .

FIG. 10 is a diagram showing an operation arrangement unit 10 in which an attitude angle vector v ′ is used.
It is a figure which shows the process which produces | generates (t).

FIG. 11 is a diagram illustrating a generation device 40 according to a second embodiment.

12 is a diagram showing an interpolated value between x _{i + 1} is the x _i and the control point P _{i + 1} of the x-coordinate is the x coordinate of the control point P _i by the linear interpolation.

13 is a diagram showing a three-dimensional virtual space and a path input window displayed on a display device 45 included in the path generation unit 30 shown in FIG.

FIG. 14 is a diagram showing an operation arrangement unit 50 according to the third embodiment.

FIG. 15 is a diagram showing operation data MM in which operation data Mi to operation data Mi + 2 are connected by the first method.

FIG. 16 is a diagram showing operation data MM in which operation data Mi to operation data Mi + 2 are connected by the second method.

FIG. 17 is a diagram showing operation data MM in which operation data Mi to operation data Mi + 2 are connected by a third method.

FIG. 18 is a diagram showing an operation data editing device 100.

FIG. 19 is a diagram illustrating a configuration example of an embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Object 20 Rigid joint object 30 Path generation means 40 Generation device 45 Display device 101 Path control point input means 102 Path edit data input means 104 Path database means 106 Path output means 107 Path confirmation means 108 Operation selection means 109 Operation deletion means 110 Operation Adding means 111 action editing data input means 112 action editing means 113 action database means 114 action arranging means 115 action connecting means 116 action output means 117 action checking means

Continuing from the front page (72) Inventor Toshiya Naka 1006 Kadoma, Kazuma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. 5B050 BA08 BA09 EA24 EA28 FA02 FA09

Claims (17)

[Claims] 1. A method comprising: receiving first motion data indicating that an object moves along a first path; and a second path, wherein based on the motion data and the second path, the object is configured to A generation device comprising: motion arrangement means for generating second motion data indicating that the robot moves along a second path. 2. The object according to claim 2, wherein the object is a rigid articulated object, the rigid articulated object has one route and at least one joint, and the first motion data includes position information of the route, The generation device according to claim 1, further comprising: route attitude information. 3. The object according to claim 1, wherein the object is a rigid articulated object, the rigid articulated object has one route and at least one joint, and the first motion data includes position information of the route, The generation device according to claim 1, wherein the generation device includes information on a posture of a route, slide information on the at least one joint, and rotation angle information on the at least one joint. 4. The position information of the route of the first operation data includes a reference position p (t) and a reference position p (t + Δt).
And the position information of the route in the second operation data is a reference position p ′ (t) corresponding to the reference position p (t) and a reference position p corresponding to the reference position p (t + Δt). '(T +
Δt), the distance between the reference position p (t) and the reference position p (t + Δt), the reference position p ′ (t), and the reference position p ′ (t
The generation device according to claim 2 or 3, wherein a distance from the generating device is correlated with (+ Δt). 5. The posture information of the route of the first motion data has a posture vector v (t), and the posture information of the route of the second motion data has a posture vector v ′ (t). The generating device according to claim 2, wherein the motion arranging unit generates the posture vector v (t) as a posture vector v ′ (t). 6. The posture information of the route of the first motion data has a posture vector v (t), and the posture information of the route of the second motion data has a posture vector v ′ (t). The generation according to any one of claims 2 to 3, wherein the operation arrangement unit generates an attitude vector v '(t) based on the attitude vector v (t) and the second path. apparatus. 7. The posture information of the route of the second motion data includes a posture vector v ′ (t), and the motion arranging unit sets an initial posture vector v ′ (t ₀ ).
And 'receives (t _e), the initial attitude vector v' final pose vector v based on the (t ₀₎ and the final posture vector v '(t _e), the period t ₀ ~t _e posture vector v The generating device according to one of claims 2 to 3, comprising '(t). 8. The generation device according to claim 1, further comprising a path generation unit configured to generate the second path. 9. The path generation unit receives a plurality of pieces of position information and interpolates the plurality of pieces of position information,
The generating device according to claim 8, wherein the generating device generates the second path. 10. The path generating means has a display device and a pointing device capable of displaying a three-dimensional space, and a locus drawn in the three-dimensional space by the pointing device is used as the second path. Claim 8
The generating device according to claim 1. 11. The generation device according to claim 1, further comprising a display device for displaying the second operation data. 12. Receiving two pieces of operation data each having position information, and changing a part of a path of one of the two pieces of operation data or a part of a path of another one of the two pieces of operation data Connecting the path of one of the two operation data to the path of the other of the two operation data, and relocating the position information of the two operation data on the connected path; Data editing device. 13. The distance between the reference position p (t) and the reference position p (t + Δt) is substantially equal to the distance between the reference position p ′ (t) and the reference position p ′ (t + Δt).
The generating device according to claim 4. 14. A method comprising: receiving first motion data indicating that an object moves along a first path; and a second path, based on the motion data and the second path. Generating second motion data indicating that the object moves along the second path. 15. Receiving first motion data indicating that an object moves along a first path and a second path, and based on the motion data and the second path, Generating a second motion data indicating that the object moves along the second path; and a computer-readable storage medium storing a program for causing a computer to execute the second operation data. 16. A method comprising: receiving first motion data indicating that an object moves along a first path; generating a second path; receiving the second path; Generating, based on the data and the second path, second motion data indicating that the object moves along the second path. 17. Receiving first motion data indicating that an object is moving along a first path; generating a second path; receiving the second path; Generating a second motion data indicating that the object moves along the second path based on the motion data and the second path. Computer readable recording medium.