JP2012247951A - Program, information storage medium, information processing system and information processing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To finely express a change in posture of an object while suppressing a load of information processing.SOLUTION: A target object whose posture is to be changed includes a plurality of elements whose connection relations are defined. The plurality of elements are classified into elements of a first type and elements of a second type. For an element of the first type, an object arrangement management part 44 changes a location or a direction of the element according to a relation between a parameter value which is associated with another object arranged in a virtual space and a parameter value which is associated with the element. For an element of the second type, the object arrangement management part 44 changes a location or a direction of the element according to the change of the location or the direction of the connected element of the first type.

Description

  The present invention relates to a program, an information storage medium, an information processing system, and an information processing method.

  There is an information processing system that sequentially generates a frame image representing a state in which an object placed in a virtual space is viewed from a viewpoint position and a line-of-sight direction placed in the virtual space, and displays the frame image on a display device. In addition, there is an information processing system that uses a physics engine, which is software that simulates physical laws such as the laws of classical mechanics, to increase the reality of the movement of objects placed in a virtual space.

  In general, a physics engine is a parameter that represents a physical quantity (for example, position, orientation, mass, moment of inertia, velocity, angular velocity, etc.) set for each object at a certain point in time, a physical quantity related to the entire virtual space (eg, , The position and orientation of each object after a predetermined time has elapsed based on the value of the parameter representing the wind speed).

  When a skeleton model representing the structure of a skeleton or joint of an object (for example, an object representing a human being) is generated in advance, and an element associated with each skeleton is simulated by a physics engine, the object It is thought that the change of the attitude of can be expressed in detail.

  Here, as the number of elements to be simulated by the physics engine increases, it is considered that the change in the posture of the object can be expressed more finely. There is a risk of becoming higher.

  The present invention has been made in view of the above problems, and one of its purposes is to enable fine expression of changes in the posture of an object while suppressing the load of information processing.

  In order to solve the above problems, a program according to the present invention is a program that causes a computer to function as an information processing system that changes the posture of an object arranged in a virtual space, and is an object whose posture is to be changed. Includes a plurality of elements in which connection relations are defined, and the plurality of elements is a first type whose position or orientation is determined based on a relationship with other objects arranged in the virtual space. And a second type of element whose position or orientation is determined based on a change in the position or orientation of the first type of element, and the first type of element is included in the virtual space. Depending on the relationship between the value of the parameter associated with the other placed object and the value of the parameter associated with the element, the position of the element or The first element changing means for changing the position of the first type element, the position of the element or the second type element depending on the change in the position or orientation of the connected first type element by the first changing means. The computer is caused to function as second element changing means for changing the direction.

  An information storage medium according to the present invention is a computer-readable information storage medium that stores a program that causes a computer to function as an information processing system that changes the attitude of an object placed in a virtual space. The object to be changed includes a plurality of elements in which connection relations are defined, and the position or orientation of the plurality of elements is based on the relationship with other objects arranged in the virtual space. The first type of elements to be determined and the second type of elements whose position or orientation is determined based on a change in the position or orientation of the first type of elements. Between the parameter values associated with other objects placed in the virtual space and the parameter values associated with the element. The first element changing means for changing the position or orientation of the element in response to the change of the position or orientation of the connected first type element by the first changing means for the second type element A computer-readable information storage medium storing a program that causes the computer to function as second element changing means for changing the position or orientation of the element according to the above.

  An information processing system according to the present invention is an information processing system that changes the posture of an object arranged in a virtual space, and an object whose posture is to be changed includes a plurality of connection relationships defined. The plurality of elements include a first class element whose position or orientation is determined based on a relationship with another object arranged in the virtual space, and a first class element And a second class element whose position or orientation is determined based on a change in position or orientation, and the first class element is associated with another object arranged in the virtual space. The first element that changes the position or orientation of the first class element according to the relationship between the parameter value associated with the first class element and the parameter value associated with the first class element And a second classifying element that changes the position or orientation of the connected element of the first class according to a change in position or orientation of the connected first class element by the first changing means. Element changing means.

  An information processing method according to the present invention is an information processing method for changing the posture of an object arranged in a virtual space, and an object whose posture is to be changed includes a plurality of connection relationships defined. The plurality of elements includes a first type element whose position or orientation is determined based on a relationship with another object arranged in the virtual space, and a first type element A second type element whose position or orientation is determined based on a change in position or orientation, and the first type element is associated with other objects arranged in the virtual space. A first element changing step for changing the position or orientation of the element according to the relationship between the value of the parameter being associated with the value of the parameter associated with the element, and the second type element. And a second element changing step for changing the position or orientation of the connected element of the first type in accordance with the change in the position or orientation of the element of the first type due to the first changing step. And

  In the present invention, since the number of first type elements is smaller than the number of elements included in the object whose posture is to be changed, the position and orientation of all elements are determined based on the relationship with other objects. The load of information processing can be suppressed more than the case. Further, according to the present invention, since the position or orientation of the second type element also changes in accordance with the change of the position or orientation of the connected first type element, a fine representation of the change in the posture of the object Is possible. In this way, according to the present invention, it is possible to finely express changes in the posture of an object while suppressing the load of information processing.

  In one aspect of the present invention, the element of the first classification is determined according to the relationship between the parameter value associated with itself and the parameter value associated with another object arranged in the virtual space. The computer as a rule information acquisition means for acquiring a conversion rule for converting to a ragdoll part in which the amount of change in the position or orientation of the object is determined, and a rule information representing an inverse conversion rule for converting the ragdoll part into an element of the first class When the position or orientation of the first class element is changed, the first element changing means converts the first class element into a corresponding ragdoll part according to the conversion rule indicated by the rule information. Parameter values associated with the ragdoll part, and parameters associated with other objects placed in the virtual space. The position or orientation of the rag doll part is changed according to the relationship with the meter value, and the changed rag doll part is converted back to the corresponding first class element according to the reverse conversion rule indicated by the rule information. It is characterized by that.

  In the aspect of the invention, the second element conversion unit may respond to a change in position or orientation of the connected first class element by the first changing unit with respect to the second class element. The position or orientation of the second class element is changed according to a rule associated with the combination of the second class element and the connected first class element.

  In one aspect of the present invention, the image processing device further includes image generation means for generating an image representing a state in which the virtual space in which the object is arranged is viewed from a viewpoint set in the virtual space. And

It is a lineblock diagram of the game device concerning one embodiment of the present invention. It is a figure which shows an example of the virtual space constructed | assembled with the game device which concerns on one Embodiment of this invention. It is a functional block diagram which shows an example of the function implement | achieved with the game device which concerns on one Embodiment of this invention. It is a figure which shows an example of skeleton data. It is a figure which shows an example of ragdoll data. It is a flowchart which shows an example of the flow of the process performed every frame with the game device which concerns on one Embodiment of this invention. It is a flowchart which shows an example of the flow of the process performed every frame with the game device which concerns on one Embodiment of this invention. It is a figure which shows an example of a mode that the rigid body object for collision determination and five proxy objects are arrange | positioned in virtual space. It is a figure which shows an example of seven line segments which connect a raycast start point and a raycast end point. It is a figure which shows an example of a mode that the barrel object and the rigid body object for a collision determination, and a barrel object and a proxy object collide. It is explanatory drawing for demonstrating an example of the calculation method of the value of the speed parameter in a physical engine. It is a figure which shows an example of a mode that the object for collision determination, a proxy object, etc. were seen from the upper direction of a player object.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a configuration diagram of a game apparatus 10 that functions as an information processing system according to an embodiment of the present invention. The game device 10 according to the present embodiment is, for example, a game console, a portable game terminal, a personal computer, or the like. As shown in FIG. 1, the game apparatus 10 according to the present embodiment includes a control unit 12, a storage unit 14, an operation unit 16, and a display unit 18.

  The control unit 12 is a program control device such as a CPU that operates according to a program installed in the game apparatus 10. The storage unit 14 is a storage element such as a ROM or a RAM, a hard disk drive, or the like. The operation unit 16 is a keyboard, a mouse, a controller of a consumer game machine, or the like, and receives a user operation input and outputs a signal indicating the content to the control unit 12. The display unit 18 is a display device such as a liquid crystal display, and displays various images in accordance with instructions from the control unit 12.

  Note that the game apparatus 10 may include a communication interface such as a network board, an optical disk drive that reads an optical disk such as a DVD-ROM or a Blu-ray (registered trademark) disk, a USB (Universal Serial Bus) port, and the like.

  The game apparatus 10 according to the present embodiment is configured to construct a virtual space 20 illustrated in FIG. 2 on a memory by executing a program to which the present invention is applied. As shown in the figure, the virtual space 20 according to the present embodiment is a virtual three-dimensional space, and virtual objects such as a player object 22, a floor object 24, a wall object 26, a barrel object 28, and a basket object 30 are viewed from the viewpoint. 32.

  In this embodiment, the virtual object is composed of a plurality of polygons. A texture is mapped to each polygon. In the present embodiment, the user of the game apparatus 10 can move the player object 22 in the virtual space 20 by operating the operation unit 16.

  Further, in the program executed by the game apparatus 10 according to the present embodiment, a function of a physics engine that simulates a physical law such as a law of classical mechanics is realized.

  FIG. 3 is a functional block diagram of the game apparatus 10 according to the present embodiment. As shown in FIG. 3, the game apparatus 10 functionally includes a data storage unit 40, an operation state acquisition unit 42, an object arrangement management unit 44, and a spatial image generation output unit 46. The data storage unit 40 is realized mainly by the storage unit 14, and the other elements are realized mainly by the control unit 12.

  These functions are realized by executing the program according to the present embodiment on the game apparatus 10 that is an information processing system. This program may be downloaded from another computer via a communication interface via a computer communication network, or may be a computer-readable information storage medium such as an optical disk (for example, CD-ROM or DVD-ROM) or USB memory. May be installed in the game apparatus 10 via an optical disk drive, a USB (Universal Serial Bus) port, or the like.

  In the present embodiment, various data necessary for constructing the virtual space 20 are stored in the data storage unit 40 in advance. The data storage unit 40 stores, for example, polygon data and texture data related to a virtual object arranged in the virtual space 20.

  The data storage unit 40 stores, for example, skeleton data 50 representing a virtual skeleton of the player object 22 as shown in FIG. The skeleton data 50 includes, for example, a bone 52 corresponding to a node in a tree structure and a joint 54 corresponding to a link in the tree structure. That is, in this embodiment, the joint 54 connects the bones 52 and defines a parent-child relationship between the bones 52. Further, in the skeleton data 50 according to the present embodiment, for example, the bone 52 associated with the trunk is set as the root node in the tree structure. Hereinafter, the bone 52 associated with the body is referred to as a root bone 52a. In the present embodiment, the posture of the player object 22 is uniquely determined based on the posture of the skeleton represented by the plurality of bones 52. Therefore, in this embodiment, when the position and orientation of each bone 52 are determined, a polygon model of the player object 22 corresponding to the position and orientation of each bone 52 can be generated. In the present embodiment, the bone 52 and the joint 54 are invisible virtual objects.

  In the present embodiment, ragdoll data 56 illustrated in FIG. 5 is also stored in the data storage unit 40 in advance. The ragdoll data 56 is data indicating a ragdoll that is an object to be subjected to a physical simulation process by the physics engine. The rag doll data 56 includes a rag doll part 58 and a joint 60 for connecting the rag doll parts 58 to each other. In the present embodiment, two ragdoll parts 58 are connected by two joints 60 (physical joint 60a and animation joint 60b). In the present embodiment, each rag doll part 58 has, for example, a column shape, a capsule shape, a spherical shape, or a shape obtained by combining these. In the present embodiment, the rag doll part 58 and the joint 60 are invisible virtual objects.

  Further, the data storage unit 40 includes physical quantities (eg, size, mass, moment of inertia (in this embodiment, inertia tensor)), a degree of applying gravity, a coefficient of friction, and a degree of wind influence on each ragdoll part 58. , A value of a parameter representing a speed, an angular velocity, a maximum velocity, a maximum angular velocity, an impulse value (a value representing impulse), and a value of a movement type of each rag doll part 58 are also stored. These values can be changed according to the progress of the game. The movement type of the ragdoll part 58 will be described later.

  In the present embodiment, the parameter indicating the physical quantity (for example, force) associated with the pair of joints 60 (a combination of the physical joint 60a and the animation joint 60b) connecting the ragdoll parts 58 in the data storage unit 40. Is also stored. These values can also be changed according to the progress of the game.

  In the present embodiment, parameter values representing physical quantities related to the entire virtual space 20 are also stored in the data storage unit 40. In the data storage unit 40, for example, a parameter value representing the wind speed at the position is stored in association with the position coordinate in the virtual space 20. In the present embodiment, the value of the parameter representing the physical quantity related to the entire virtual space 20 changes with time according to a predetermined rule.

  In this embodiment, the correspondence between the bone 52 and the rag doll part 58 and the correspondence between the joint 54 included in the skeleton data 50 and the pair of joints 60 included in the rag doll data 56 are stored in the data storage unit 40 in advance. Data indicating the relationship is also stored. As shown in FIG. 5, in the present embodiment, the bone 52 may be associated with the ragdoll part 58 or may not be associated with it. In the example of FIG. 5, there is no rag doll part 58 associated with the bone 52 representing each of the left upper arm, upper right arm, left thigh, and right thigh. In the present embodiment, the rag doll part 58 associated with the root bone 52a is referred to as a root rag doll part 58a. In the present embodiment, the rag doll data 56 always includes the root rag doll part 58a.

  In the present embodiment, as shown in FIG. 5, the joint 54 included in the skeleton data 50 is not associated with the pair of joints 60 included in the ragdoll data 56. There is also.

  In this embodiment, the data storage unit 40 previously stores conversion rule data indicating a rule for converting the skeleton data 50 into the ragdoll data 56, and reverse conversion rule data indicating a rule for converting the ragdoll data 56 into the skeleton data 50. Is also remembered. In the present embodiment, for example, data representing the transformation matrix Ti is stored in the data storage unit 40, the transformation matrix Ti is used as transformation rule data, and the inverse matrix of the transformation matrix Ti is used as inverse transformation rule data.

  Further, in the present embodiment, a rule for determining the position and orientation of the bone 52 that is not associated with the ragdoll part 58 in advance based on the position and orientation of the parent bone 52 in the data storage unit 40 in this embodiment. Data (for example, data indicating a relative position and orientation with respect to the position and orientation of the parent bone 52) is stored. In the present embodiment, this data indicates a rule associated with the parent-child relationship between the bone 52 and the parent bone 52. This data may indicate a rule that is commonly applied to the parent-child relationship of the bone 52, or may indicate a different rule for each parent-child relationship of the bone 52.

  In the present embodiment, the data storage unit 40 also stores in advance motion data indicating a change in the posture of the skeleton associated with each of a plurality of motions (for example, walking, running, falling, etc.). Yes. In the present embodiment, the motion data includes, for example, a frame number for a plurality of preset key frames and a skeleton posture represented by the skeleton data 50 associated with the frame number (for example, each bone 52 positions and orientations in the local coordinate system). In the present embodiment, the motion data also includes data indicating a motion identifier and a state associated with the motion (in this embodiment, a motion drive state or a complete ragdoll state). The motion drive state and the complete ragdoll state will be described later. In the present embodiment, data indicating the current motion of the player object 22 is also stored.

  In the present embodiment, the motion changes from “walking” to “running” in advance in the data storage unit 40 when, for example, the input amount of the controller exceeds a predetermined value, or the player object 22 is scaffolded. In the case where there is not, transition condition data indicating a condition for the transition of the motion is stored, such as the motion changing to “fall” regardless of the current motion. In this embodiment, the transition condition data includes data indicating settings used when the motion transitions (for example, data indicating how to interpolate the motion before transition and the motion after transition at the time of transition, A damping coefficient (reduction rate) and data indicating its activation condition are associated with each other. The damping coefficient and its activation condition will be described later.

  In the present embodiment, an image (hereinafter referred to as a space frame image) representing a state in which the spatial image generation output unit 46 looks at the line-of-sight direction from the viewpoint 32 arranged in the virtual space 20 is referred to as a predetermined time (for example, 1). / 60 seconds) is generated at intervals and displayed on the display unit 18.

  Here, an example of a flow of processing that is performed every frame (for example, performed at 1/60 second intervals) in the game apparatus 10 according to the present embodiment when the motion of the player object 22 does not transition in the previous frame. This will be described with reference to the flowcharts illustrated in FIGS. 6A and 6B. In this processing example, the current position of the player in the game being executed (not necessarily coincident with the position where the player object 22 is arranged) and the current direction are set in advance. To do.

  First, the operation state acquisition unit 42 acquires the operation state of the operation unit 16 (specifically, for example, the type of button being pressed and the amount of button press) (S101). Then, based on the skeleton posture (motion, frame number, etc.) at the start of this process, the operation state acquired in the process shown in S101, and the current position and current orientation of the player. Then, the values of various parameters used for describing changes in the virtual space 20 of the player object 22 are determined (S102). In the processing shown in S102, the object arrangement management unit 44 determines, for example, the frame number for reproducing the motion, the movement amount and rotation amount of the player object 22 in the world coordinate system, and the type of event that has occurred.

  If the object arrangement management unit 44 determines that an event has occurred in the process shown in S102, the object arrangement management unit 44 executes a process according to the type of the event (S103). Details of this processing will be described later.

  The object arrangement management unit 44 also determines the position and orientation of each bone 52 in the local coordinate system (that is, the skeleton posture) based on the current motion of the player object 22 and the frame number determined in the process shown in S102. ) And the bones 52 are arranged so as to follow the determination (S104).

  Specifically, for example, the object arrangement management unit 44 shows the current orientation of the player in S102, for example, to the position where the root bone 52a has been moved by the amount of movement determined by the process shown in S102. Arranged in a direction rotated by the amount of rotation determined by the processing. At this time, the object arrangement management unit 44 may adjust the position and orientation of each bone 52 so that the vertical direction of the root bone 52a is along the normal direction to the floor object 24. Then, the object arrangement management unit 44 determines the position and orientation of each bone 52 in the local coordinate system according to data obtained by interpolating the posture data associated with the frame number of the key frame immediately before and after the determined frame number. To do. Then, the object arrangement management unit 44 arranges the remaining bones 52 so as to follow the determined position and orientation in the local coordinate system.

  Then, the object arrangement management unit 44 acquires the conversion rule data stored in the data storage unit 40, and is associated with the ragdoll part 58 based on the arranged skeleton and the conversion rule data. For the bone 52, the position and orientation of the rag doll part 58 corresponding to the bone 52 are determined, and each rag doll part 58 is arranged so as to follow the determination (S105). Specifically, for example, the object arrangement management unit 44 multiplies the value representing the position and orientation of each arranged bone 52 by the transformation matrix Ti to obtain the value of the position and orientation of the corresponding ragdoll part 58. decide.

  Then, the object arrangement management unit 44 determines the reference position Pb and the reference direction Db based on the parameter values determined in the process shown in S102 (S106). At this time, the object arrangement management unit 44, for example, based on the type of motion determined in the process shown in S102 with respect to the position moved from the current position of the player by the movement amount determined in the process shown in S102. The position shifted by the determined offset is determined as the reference position Pb, and the current direction of the player object 22 is determined by the process shown in S102 with respect to the direction rotated by the rotation amount determined in the process shown in S102. The direction shifted by the offset determined based on the type of motion determined is determined as the reference direction Db.

  Then, the object arrangement management unit 44 arranges the collision determination rigid body object 62 in the virtual space 20 so that the position of the representative point matches the reference position Pb and the preset forward direction matches the reference direction Db. (S107). Then, the object arrangement management unit 44 sets the five proxy objects 64 in the virtual space 20 whose representative points coincide with the reference position Pb and the positions shifted upward, downward, left, and right with respect to the reference position Pb. (S108). FIG. 7 shows an example of a state in which a collision determination rigid body object 62 and five proxy objects 64 are arranged in the virtual space 20. FIG. 7 also shows the reference position Pb and the reference direction Db. The proxy object 64 arranged at this stage is only a candidate for the proxy object 64 in the present processing example, and one of these is determined as the proxy object 64 in the present processing example by the processing described later. In the present embodiment, the orientations of the five proxy objects 64 all coincide with the reference orientation Db. In this embodiment, the collision determination rigid body object 62 and the proxy object 64 are ellipsoidal invisible virtual objects arranged in the virtual space 20. In the present embodiment, the position of the center of gravity of the collision determining rigid body object 62 and the position of the center of gravity of the proxy object 64 arranged at the reference position Pb match, and the collision determining rigid body object 62 and the proxy object 64 are similar. The collision determination rigid body object 62 is larger than the proxy object 64.

  Then, the object arrangement management unit 44 executes a physical simulation process on the proxy object 64, the collision determination rigid body object 62, and the ragdoll (S109). As a result, for the virtual object that is in contact with the proxy object 64, the rag doll, the rag doll, or the collision determining rigid body object 62, the position and orientation, and the speed parameter value (in this embodiment, the speed parameter value is 3). May be changed). For example, the proxy object 64 embedded in the wall object 26 is pushed back out of the wall object 26. Details of the physical simulation process will be described later.

  Then, the object arrangement management unit 44 determines a state associated with the current motion of the player object 22 (S110). In this embodiment, for example, motions such as “walking” and “running” are set in a motion driving state, and motions such as “falling” are set in a complete ragdoll state.

  Then, in the motion drive state, the object arrangement management unit 44 performs the main processing on the proxy object 64 having the shortest distance to the reference position Pb among the five proxy objects 64 after the physical simulation process is executed. The proxy object 64 in the example is determined (S111). At this time, the object arrangement management unit 44 deletes the remaining proxy objects 64 from the virtual space 20. Then, as shown in FIG. 8, the raycast start point Rs determined in the previous frame, the position of the representative point (for example, the center of gravity) of the proxy object 64, and a predetermined length before and after the representative point. Whether there are other virtual objects such as the wall object 26 on the seven line segments connecting the seven ray cast end points Re that correspond to the positions shifted to the left, right, upper, lower, and left, respectively. Is determined (S112). When all the seven line segments intersect with other virtual objects (S112: Y), the position and orientation of the proxy object 64 are changed to the position and orientation of the proxy object 64 determined in the previous frame (S113). . That is, the position and orientation of the proxy object 64 return to the position and orientation of the proxy object 64 determined in the previous frame. Therefore, the position and orientation of the proxy object 64 are not changed with the position and orientation of the proxy object 64 determined in the previous frame. In this case, the position of the raycast start point Rs does not change even in the next frame.

  On the other hand, if there is a line segment that does not intersect with another virtual object (S112: N), any raycast end point Re determined in accordance with a rule regarding a predetermined priority is determined as the raycast start point Rs in the next frame. (S114). In this case, the position and orientation of the proxy object 64 remain the position and orientation determined in the process shown in S111.

  When the process shown in S113 or the process shown in S114 ends, the object arrangement management unit 44 determines the position and orientation of the proxy object 64 as the current position and current orientation of the player in the next frame (S115).

  On the other hand, when it is determined in the process shown in S110 that the rag doll is in the complete rag doll state, the position and orientation of the root rag doll part 58a after execution of the physical simulation process are determined as the current position and current orientation of the player in the next frame. (S116).

  When the process shown in S115 or the process shown in S116 ends, the object arrangement management unit 44 determines the position and orientation of the bone 52 corresponding to each ragdoll part 58 based on the ragdoll after execution of the physical simulation process. Then, each bone 52 is arranged so as to follow the determination (S117). Here, the object arrangement management unit 44 executes the processing shown in S117 in the order from the root bone 52a to the parent bone 52 to the child bone 52. Then, the object arrangement management unit 44 acquires the inverse transformation rule data stored in the data storage unit 40, and for the bone 52 associated with the ragdoll part 58, the ragdoll part after execution of the physical simulation process is performed. Based on the position and orientation of 58 and the inverse transformation rule data, the position and orientation of the bone 52 are determined. Specifically, the object arrangement management unit 44 determines the value of the position and orientation of the corresponding bone 52 by, for example, multiplying the value representing the position and orientation of the ragdoll part 58 by the inverse matrix of the transformation matrix Ti. To do.

  On the other hand, the object arrangement management unit 44 determines, for the bone 52 not associated with the ragdoll part 58, data indicating the relative position and orientation with respect to the position and orientation of the parent bone 52 and the processing shown in S117. Based on the position and orientation of the parent bone 52, the position and orientation of the bone 52 not associated with the ragdoll part 58 are determined. In this way, the bone 52 that is not associated with the ragdoll part 58 changes its own position or orientation in accordance with the change in the position or orientation of the parent bone 52.

  Then, the object arrangement management unit 44 arranges the player object 22 to be drawn in the virtual space 20 based on the position and orientation of each bone 52 determined in the process shown in S117 (S118). Then, the object arrangement management unit 44 determines a motion in the next frame based on the player object 22 after arrangement and the operation state of the operation unit 16 acquired in the process shown in S101 (S119). Here, for example, based on information indicating whether or not there is a scaffold, an inclination angle of the scaffold, an impulse value set for each rag doll, and transition condition data determined based on the player object 22 after placement. To determine the motion in the next frame.

  Then, the spatial image generation / output unit 46 generates a spatial frame image representing a state in which the viewing direction is viewed from the viewpoint 32, and displays and outputs it on the display unit 18 (S120).

  Here, the physical simulation process shown in S109 will be described by taking, as an example, a state in which the barrel object 28 and the collision determining rigid body object 62, and the barrel object 28 and the proxy object 64 collide, as shown in FIG.

  First, the object arrangement management unit 44 identifies a virtual object pair that is determined to collide. In the present embodiment, as shown in FIG. 9, each virtual object has an invisible collision determination area 66 that covers the virtual object, and the object placement management unit 44 is in contact with the collision determination area 66. Alternatively, an overlapping virtual object pair is specified as a colliding virtual object pair. In the example of FIG. 9, it is determined that the proxy object 64 and the barrel object 28 collide, and the collision determining rigid body object 62 and the barrel object 28 collide. In the present embodiment, the collision determination between the collision determination rigid body object 62 and the proxy object 64 is not performed in advance.

  Then, the object arrangement management unit 44 acquires the value of the mass parameter and the value of the velocity parameter set for each of the barrel object 28 and the proxy object 64 shown in FIG. Then, the object arrangement management unit 44 determines the speed parameter of the proxy object 64 based on the acquired value and an index indicating the degree to which the proxy object 64 is in contact with the barrel object 28 (degree of depression). The amount of change in value is calculated. Then, the object arrangement management unit 44 changes the speed parameter value by the calculated change amount, and then the movement amount specified based on the changed speed parameter value (for example, the changed speed parameter value). The proxy object 64 is moved by a movement amount obtained by multiplying the value by a predetermined value. Further, the object arrangement management unit 44 acquires the value of the inertia tensor parameter and the value of the angular velocity parameter set for each of the barrel object 28 and the proxy object 64 shown in FIG. Then, the object arrangement management unit 44 determines the angular velocity parameter of the proxy object 64 based on the acquired value and an index indicating the degree to which the proxy object 64 is in contact with the barrel object 28 (degree of depression). The amount of change in value is calculated. Then, the object arrangement management unit 44 changes the value of the angular velocity parameter by the calculated change amount, and then specifies the rotation amount (for example, the changed angular velocity parameter value) based on the changed angular velocity parameter value. The proxy object 64 is rotated by a rotation amount obtained by multiplying the value by a predetermined value.

  Further, the object arrangement management unit 44 acquires the value of the mass parameter and the value of the velocity parameter set for each of the barrel object 28 and the collision determination rigid body object 62 shown in FIG. Based on the acquired value and the index indicating the degree to which the collision determination rigid body object 62 is in contact with the barrel object 28 (the degree to which the barrel object 28 is recessed), the object arrangement management unit 44 The amount of change in the speed parameter value is calculated. Then, the object arrangement management unit 44 changes the speed parameter value by the calculated change amount, and then the movement amount specified based on the changed speed parameter value (for example, the changed speed parameter value). The barrel object 28 is moved by a movement amount obtained by multiplying the value by a predetermined value. In addition, the object arrangement management unit 44 acquires the value of the inertia tensor parameter and the value of the angular velocity parameter set for each of the barrel object 28 and the collision determination rigid body object 62. Based on the acquired value and the index indicating the degree to which the collision determination rigid body object 62 is in contact with the barrel object 28 (the degree to which the barrel object 28 is recessed), the object arrangement management unit 44 The amount of change in the value of the angular velocity parameter is calculated. Then, the object arrangement management unit 44 changes the value of the angular velocity parameter by the calculated change amount, and then specifies the rotation amount (for example, the changed angular velocity parameter value) based on the changed angular velocity parameter value. The barrel object 28 is rotated by a rotation amount obtained by multiplying the value by a predetermined value.

  In the present embodiment, the above-described change amount is calculated using a function of a known physical engine. An example of a method for calculating the value of the speed parameter in the physical engine will be described with reference to FIG. Here, as shown in FIG. 10, the left virtual object (mass parameter value: mA, velocity parameter value: vA (rightward is positive)) and the right virtual object (mass parameter value: mB, velocity parameter). A value of vB (positive to the right)) collides. Here, the length d where the virtual objects overlap in the direction along the straight line connecting the centers of gravity of the virtual objects is used as an index representing the degree to which the virtual objects are in contact with each other (the degree of depression). And

  Then, the velocity vA ′ of the left virtual object after the collision is calculated by an equation of vA ′ = vA− (mB / (mA + mB)) × (α (vA−vB) + βd), and the right virtual object after the collision is calculated. The velocity vB ′ is calculated by the following equation: vB ′ = vB + (mA / (mA + mB)) × (α (vA−vB) + βd). Here, α and β represent predetermined adjustment values.

  In this way, in the physics engine, the amount of change in the speed parameter value of each collision virtual object is the ratio of the mass parameter value (ratio of the mass parameter value of the collision partner to the sum of the mass parameter values) or relative It is determined based on the speed, the degree to which the virtual objects are in contact with each other (degree of indentation), and the like. Similarly, in the physics engine, the amount of change in the value of the angular velocity parameter of each collided virtual object is the degree of inertia tensor value, relative angular velocity of each virtual object, or the degree to which the virtual objects are in contact (indented). Degree) and the like.

  The degree to which the virtual objects in FIG. 9 are in contact with each other (the degree to which the virtual objects are in contact) is, for example, in a direction along a straight line connecting the projection points of the center of gravity of the virtual object when projected onto a predetermined projection plane. It is conceivable to use a length in which the collision determination areas 66 overlap. In the present embodiment, the longer the length is, the larger the amount of change described above is. For example, in the physical simulation process in the collision between the collision determination rigid body object 62 and the barrel object 28, the length d1 shown in FIG. 9 is used, and in the physical simulation process in the collision between the proxy object 64 and the barrel object 28, The length d2 shown in FIG. 9 is used.

  In the present embodiment, the collision determination rigid body object 62 is set with values of mass parameters and inertia tensor parameters that are appropriate to be set as the player object 22 in relation to other virtual objects in the game. Specifically, for example, a value is set such that the mass ratio or inertia tensor ratio between the player object 22 and another virtual object matches the mass ratio or inertia tensor ratio between the player and another object in the game. On the other hand, the proxy object 64 has a value sufficiently larger than the value of the mass parameter or inertia tensor parameter appropriate for setting as the player object 22 in relation to other virtual objects in the game. Set as

  Further, in the present embodiment, the values of the mass parameter and inertia tensor parameter set for the proxy object 64 are determined based on the attribute of the virtual object that is the collision partner. In the present embodiment, for example, the mass of the proxy object 64 is increased so that the larger the value of the mass parameter or inertia tensor parameter set in the virtual object that is the collision partner is, the larger the value of the mass parameter or inertia tensor parameter is. Parameters and inertia tensor parameter values are set. For example, a value proportional to the value of the mass parameter or inertia tensor parameter set in the virtual object that is the collision partner is set as the value of the mass parameter or inertia tensor parameter of the proxy object 64. Further, for example, depending on the type of the virtual object that becomes the collision partner (for example, whether it is the wall object 26 or the barrel object 28), the value of the mass parameter or inertia tensor parameter set in the proxy object 64 is set. It may be determined.

  In the present embodiment, the parameter value associated with the player object 22 (here, the collision determination rigid body object 62 is set), which is the basis for calculating the change in the physical quantity (speed, etc.) of the virtual object of the collision partner. The value of the parameter associated with the player object 22 (here, the proxy object 64 is set), which is the basis for calculating the change in the physical parameter (speed, etc.) of the player object 22 and the mass parameter or inertia tensor parameter value) The mass parameter and inertia tensor parameter value) are different. Therefore, by setting parameter values so that the calculation result by the physics engine does not become unstable due to the influence of rounding error, etc., the calculation result by the physics engine can be stabilized. The possibility of losing reality will be reduced.

  In the present embodiment, since the collision determination rigid body object 62 is set to be larger than the proxy object 64, the collision partner virtual object collides with the collision determination rigid body object 62, but the proxy object 64 It can happen that there is no conflict. Since the collision determination rigid body object 62 is set with values of mass parameters and inertia tensor parameters that are appropriate to be set as the player object 22 in relation to other virtual objects in the game, the virtual object of the collision partner It is expected that the expression (for example, expression that blows away) when moving will be accurate. Further, the proxy object 64 has a value sufficiently larger than the value of a reasonable mass parameter or inertia tensor parameter (for example, a value proportional to the value of the mass parameter or inertia tensor parameter set in the virtual object of the collision partner). Since it is set as the value of the mass parameter or inertia tensor parameter, when it is determined that the virtual object (for example, the wall object 26) having a large value of the mass parameter or inertia tensor parameter collides with the proxy object 64, the influence of the rounding error It is also expected that the proxy object 64 will stop properly without receiving.

  Further, in this embodiment, since the value of the mass parameter or the inertia tensor parameter of the proxy object 64 according to the attribute of the virtual object that becomes the collision partner is possible, variations in parameter value setting are widened, and the virtual space 20 Variations in the expression of how virtual objects collide with each other can be expanded.

  In the present embodiment, the proxy object 64 having the shortest distance to the reference position Pb among the plurality of proxy object 64 candidates is determined as the proxy object 64 in the present processing example in the process shown in S111. The player object 22 can be moved to the vicinity where the player object 22 is about to be advanced, and the player object 22 is unexpectedly influenced by the small step provided on the floor object 24 that is caught by the wall object 26 having fine unevenness. It is possible to reduce the possibility of an image expression without reality, such as flying high. Further, in the processes shown in S112 to S114, the predetermined number of points in the proxy object 64 determined in the process shown in S111 and the points in the proxy object 64 of the previous frame are connected to the line segment. When the virtual object exists, the proxy object 64 does not move, so that the possibility that the proxy object 64 slips through the virtual object can be reduced.

  In the present embodiment, the object arrangement management unit 44 associates the parameter value indicating the degree of influence of the wind set for each virtual object with the position where the virtual object is arranged. Based on the value of the wind speed parameter, the position and orientation of the virtual object are further changed.

  The collision between the rag doll part 58 and another virtual object is different from that of the virtual object in that there is a constraint condition by the joint 60, but basically the same physical simulation process as described above is performed. In the present embodiment, the value of the movement type of each rag doll part 58 is determined based on the type of motion. Examples of the movement type value include key frame, position control, speed control, joint control, position control (one-way), speed control (one-way), joint control (one-way), and the like. The position of the ragdoll part 58 whose movement type value is a key frame does not change as a result of the physical simulation process even if it collides with another virtual object. The rag doll part 58 whose movement type value is position control is arranged at a position determined based on the combination of the type of motion and the frame number, and then the physical simulation process is executed. For the rag doll part 58 whose movement type value is speed control, the speed parameter value of the rag doll part 58 is set based on the difference between the position determined based on the combination of the type of motion and the frame number and the current position. Then, the physical simulation process is executed. In addition, the movement type corresponding to the above-described one-way is affected by the collision partner, but does not affect the collision partner.

  The ragdoll part 58 whose movement type value is joint control is determined based on the combination of the motion type and the frame number, and the angle between the ragdoll part 58 and the parent ragdoll part 58 is set as the angle of the animation joint 60b. . In addition, for the ragdoll part 58 whose movement type value is joint control, a predetermined physical constraint condition is set in the physical joint 60a. Then, after such a setting of the joint 60, the physical simulation process is executed. Here, in the physics simulation process, the angle of the animation joint 60b does not change, and the angle of the physics joint 60a is variable within a range that satisfies the physical constraint conditions. In this embodiment, the result of the physical simulation process at the animation joint 60b and the result of the physical simulation process at the physical joint 60a are blended at a ratio corresponding to the value of the force parameter set for the joint 60 (for example, If the value of the force parameter is 100%, the ratio of the animation joint 60b is 100%, and if the value of the force parameter is 0%, the ratio of the physical joint 60a is 100%. Will be handled as the final result of the physics simulation process.

  In the present embodiment, the ragdoll part 58 after the physical simulation process is converted into the corresponding bone 52 based on the inverse conversion rule data, as described in the process indicated by S117 described above. On the other hand, for some of the bones 52, the corresponding ragdoll parts 58 are not set, and the position and orientation of the bone 52 are set according to the position and orientation of the parent bone 52. As described above, in this embodiment, the total number of ragdoll parts 58 to be subjected to the physical simulation process is smaller than the total number of bones 52. Therefore, compared with the case where the corresponding rag doll parts 58 exist for all the bones 52, in this embodiment, the calculation load of the game apparatus 10 in the physical simulation process shown in S109 can be reduced.

  Further, for example, when the motion changes in the process shown in S119, the position and orientation of the player object 22 may be determined according to the setting indicated by the data stored in the data storage unit 40. Specifically, for example, the result obtained by interpolating the result of the process shown in S118 in the motion before the transition and the result of the process shown in S118 in the motion before the transition is a drawing target. The arrangement of the player object 22 may be determined.

  In this embodiment, when a motion transitions, correction according to the setting indicated by the data associated with the transition condition data is added to the processing shown in S101 to S120 described above. For example, over several frames, the result of processing in the motion before the transition and the result of processing in the motion after the transition are interpolated with the blend ratio according to the setting indicated by the data associated with the transition condition data The result is treated as the final processing result. In the present embodiment, the blend ratio occupied by the processing result in the motion before the transition gradually decreases and the blend ratio occupied by the processing result in the motion after the transition gradually increases during several frames. It has become.

  Further, in the present embodiment, it can be considered that a virtual object that has been in a motion-driven state until the previous frame transitions to a complete ragdoll state. In this case, in this embodiment, the object arrangement management unit 44 performs the physical simulation process in the complete ragdoll state using the value of the speed parameter of the process result in the motion drive state. At this time, in the present embodiment, when the above-described activation condition associated with the motion transition is satisfied (for example, the vertical component of the velocity parameter value set in the virtual space 20 is equal to or greater than a predetermined value) In the case of), for the velocity parameter value after the physical simulation processing in the complete ragdoll state, the vertical direction upward component set in the virtual space 20 corresponds to the motion transition in advance. The final value of the speed parameter is determined by multiplying the value of the above-described damping coefficient (for example, the set value is any real number between 0 and 1). In this way, the direction of the vector that is the final value of the speed parameter is shifted downward in the vertical direction with respect to the direction of the vector that is the value of the speed parameter before the value of the damping coefficient is multiplied. For example, when a speed vector represented by a speed parameter is set in a direction from the current position of the player in the previous frame to the current position of the player in the previous frame, the speed is downward in the vertical direction from that direction. The velocity vector represented by the parameter is changed. Therefore, it is possible to prevent a situation without reality (for example, the player object 22 from blowing up) when transitioning to the complete ragdoll state.

  Here, an example of processing according to the type of event that has occurred in the processing shown in S103 will be described with reference to FIG. Here, for example, it is assumed that an event has occurred in which the player object 22 has the bag object 30. FIG. 11 is a diagram illustrating an example of a state where the collision determination rigid body object 62, the proxy object 64, and the like are viewed from above the player object 22 when the above-described event occurs.

  As shown in FIG. 11, when the above-described event occurs, the object arrangement management unit 44 increases the size of the proxy object 64 so as to include both the player object 22 and the heel object 30. At the same time, the collision determination area 66 set in the saddle object 30 is deleted. Then, the object arrangement management unit 44 sets the collision determination area 66 that covers the enlarged proxy object 64 as the collision determination area 66 that is associated with both the proxy object 64 and the saddle object 30. In this way, the closed region including both the player object 22 and the heel object 30 is set as the collision determination region 66 associated with both the proxy object 64 and the heel object 30. In the present embodiment, as shown in FIG. 11, as the shape of the proxy object 64 changes, the collision determination rigid body object 62 and the collision determination rigid body so as to have a shape including the changed proxy object 64. The shape of the collision determination area 66 that covers the object 62 also changes.

  In this embodiment, when the collision determination area 66 covering the proxy object 64 comes into contact with (or overlaps) the collision determination area 66 of another virtual object, the other virtual object, the proxy object 64, , Is determined to have collided. When the collision determination area 66 covering the collision determination rigid body object 62 comes into contact with (or overlaps) the collision determination area 66 of another virtual object, the collision determination rigid body object 62 and the other virtual object are collided. Are determined to have collided. Here, when the collision determination area 66 of the proxy object 64 or the collision determination rigid body object 62 comes into contact with (or overlaps) the collision determination area 66 of another virtual object, the proxy object 64 or the collision determination area 66 is used. Instead of determining that the rigid object 62 has collided with another virtual object, it is possible to determine that the other virtual object and the player object 22 have collided with the other virtual object and the saddle object 30. You may make it determine with having collided.

  Thus, in the present embodiment, the collision determination process between the player object 22 and the bag object 30 is not executed after the time when the event that the player object 22 possesses the bag object 30 occurs. can do.

  Further, as shown in FIG. 11, the object arrangement management unit 44 may make the proxy object 64 have a shape including a fan-shaped column in a part thereof. The object arrangement management unit 44 determines the central angle θ of the sector of the section of the sector column based on the value of the angular velocity parameter set in the player object 22. Specifically, for example, a value obtained by multiplying the value of the angular velocity parameter by a time interval of one frame is set as the value of the fan-shaped central angle θ. In the example of FIG. 11, two fan-shaped columns are shown, and the center of the sector shape of each fan-shaped column is determined based on the positional relationship between the player object 22 and the saddle object 30 (for example, the player object 22 Near). Further, with respect to the sector shape of the section of each sector column, a line segment to the center of the sector shape and the tip of the saddle object 30 and a line segment obtained by rotating the line segment by the rotation angle θ described above only in the rearward direction of the player object 22. And has a fan-shaped radius.

  In this way, for example, even in a situation where an operation of swinging a long and narrow virtual object such as the heel object 30 is performed in the virtual space 20, as shown in FIG. 11, the heel object 30 that moves in one frame is displayed. It is possible to determine that the proxy object 64 and the wall object 26 collide, and the collision determination rigid body object 62 and the wall object 26 have collided even in a scene where a virtual object such as the wall object 26 exists on the trajectory. It becomes.

  Note that the object arrangement management unit 44 sets the proxy object 64 to the depth that the player object 22 and the heel object 30 move in the virtual space 20 within a predetermined time (for example, the length that moves in one frame). The shape may include a part including a rectangular parallelepiped.

  Further, the object arrangement management unit 44 gradually increases the shape of the proxy object 64 and the collision determination area 66 covering the proxy object 64 after the occurrence of the event that the player object 22 possesses the saddle object 30, for example. It may be.

  In addition, this invention is not limited to the above-mentioned embodiment.

  For example, when the object placement management unit 44 satisfies the above-described activation condition associated with the motion transition, the object parameter management unit 44 also sets the value of the speed parameter for speed components other than the upward component in the vertical direction set in the virtual space 20. The final velocity parameter value is reduced by multiplying by a predetermined value, and the final angular velocity parameter value is reduced by multiplying the angular velocity parameter value by a predetermined value. Also good.

  Further, for example, in the processing shown in S112 described above, the raycast start point Rs determined in the previous frame matches the position shifted by a predetermined length before or above the representative point of the proxy object 64. For the two line segments that connect each of the raycast end points, it may not be determined whether or not another virtual object exists on the line segment.

  Further, for example, the size of the collision determination rigid body object 62 may be changed according to the type of the virtual object determined to collide. For example, the size of the collision determination rigid body object 62 may be increased as the virtual object to which the virtual object of the collision partner is better blown away.

  Further, in the process shown in S111 described above, among the five proxy objects 64 after the physical simulation process is executed, the coordinate value in the specific direction (for example, the coordinate value in the vertical direction) is the one in the specific direction of the reference position Pb. The proxy object 64 closest to the coordinate value (for example, the vertical coordinate value) may be determined as the proxy object 64 in the above-described processing example.

  In this embodiment, the physical simulation process is executed using the velocity parameter value of each collided virtual object. However, instead of the velocity parameter value of each collided virtual object, one virtual object is used. You may perform a physical simulation process using the other information regarding the relationship of the moving speed of two virtual objects, such as the relative speed of the other virtual object.

  Further, the present embodiment may be applied to an information processing system (for example, a simulation system or an image processing system) other than the game apparatus 10. Moreover, the specific numerical values and character strings described above and the specific numerical values and character strings in the drawings are examples, and are not limited to these numerical values and character strings.

  10 game devices, 12 control units, 14 storage units, 16 operation units, 18 display units, 20 virtual spaces, 22 player objects, 24 floor objects, 26 wall objects, 28 barrel objects, 30 basket objects, 32 viewpoints, 40 data storage Part, 42 operation state acquisition part, 44 object arrangement management part, 46 aerial image generation output part, 50 skeleton data, 52 bone, 52a root bone, 54 joint, 56 rag doll data, 58 rag doll part, 58a root rag doll part, 60 joint , 60a physical joint, 60b animation joint, 62 rigid object for collision determination, 64 proxy object, 66 collision determination area.

Claims (7)

A program that causes a computer to function as an information processing system that changes the posture of an object placed in a virtual space,
The object whose posture is to be changed includes multiple elements with defined connection relationships.
The plurality of elements are based on a first type element whose position or orientation is determined based on a relationship with another object arranged in the virtual space, and a change in the position or orientation of the first type element. And the second type of element whose position or orientation is determined,
For the first type element, depending on the relationship between the value of the parameter associated with another object arranged in the virtual space and the value of the parameter associated with the element, First element changing means for changing the position or orientation;
A second element changing means for changing the position or orientation of the second type element in accordance with a change in position or orientation of the connected first type element by the first changing means;
A program for causing the computer to function as: The amount of change in the position or orientation of the first class element according to the relationship between the value of the parameter associated with itself and the value of the parameter associated with another object arranged in the virtual space The computer further functions as a conversion rule for converting to a ragdoll part to be determined, and a rule information acquisition means for acquiring rule information representing a reverse conversion rule for converting the ragdoll part to an element of the first class,
When changing the position or orientation of the first class element, the first element changing means converts the first class element into a corresponding rag doll part according to the conversion rule indicated by the rule information, and the rag doll part. The position or orientation of the ragdoll part is changed according to the relationship between the value of the parameter associated with the parameter value and the value of the parameter associated with another object arranged in the virtual space, and the rule Inversely transforms the ragdoll part after the change into the corresponding first class element according to the inverse transformation rule indicated by the information.
The program according to claim 1. The second element conversion unit is configured to change the second class element according to a change in position or orientation of the connected first class element by the first change unit. Changing the position or orientation of the second class element according to the rules associated with the combination with the connected first class element;
The program according to claim 1 or 2, characterized by the above-mentioned. Image generation means for generating an image representing a state in which the virtual space in which the object is arranged is viewed from a viewpoint set in the virtual space;
The program according to any one of claims 1 to 3, characterized in that: A computer-readable information storage medium storing a program for causing a computer to function as an information processing system that changes the posture of an object arranged in a virtual space,
The object whose posture is to be changed includes multiple elements with defined connection relationships.
The plurality of elements are based on a first type element whose position or orientation is determined based on a relationship with another object arranged in the virtual space, and a change in the position or orientation of the first type element. And the second type of element whose position or orientation is determined,
For the first type element, depending on the relationship between the value of the parameter associated with another object arranged in the virtual space and the value of the parameter associated with the element, First element changing means for changing the position or orientation;
A second element changing means for changing the position or orientation of the second type element in accordance with a change in position or orientation of the connected first type element by the first changing means;
A computer-readable information storage medium storing a program that causes the computer to function as: An information processing system for changing the posture of an object arranged in a virtual space,
The object whose posture is to be changed includes multiple elements with defined connection relationships.
The plurality of elements are based on a first class element whose position or orientation is determined based on a relationship with another object arranged in the virtual space, and a change in position or orientation of the first class element. And a second classification element whose position or orientation is determined,
Depending on the relationship between the value of the parameter associated with the other object arranged in the virtual space and the value of the parameter associated with the element of the first category for the element of the first category First element changing means for changing the position or orientation of the element of the first classification;
Second element changing means for changing the position or orientation of the element of the second class according to the change of the position or orientation of the connected element of the first class by the first changing means; ,
An information processing system comprising: An information processing method for changing the posture of an object arranged in a virtual space,
The object whose posture is to be changed includes multiple elements with defined connection relationships.
The plurality of elements are based on a first type element whose position or orientation is determined based on a relationship with another object arranged in the virtual space, and a change in the position or orientation of the first type element. And the second type of element whose position or orientation is determined,
For the first type element, depending on the relationship between the value of the parameter associated with another object arranged in the virtual space and the value of the parameter associated with the element, A first element changing step for changing position or orientation;
A second element changing step for changing the position or orientation of the second type element according to the change in the position or orientation of the connected first type element by the first changing step; ,
An information processing method comprising:

Images