JP2018128851A - Program, object layout system and object layout method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a program, an object layout system and an object layout method capable of expressing, with a high reality, an object corresponding to a ragdoll on which a physical simulation process is executed.SOLUTION: A feedback unit 52 determines a reference layout for multiple skeleton joints associated with an object on the basis of the layout of multiple ragdoll parts having undergone a physical simulation process. The feedback unit 52 corrects the reference layout for the multiple skeleton joints into a final layout on the basis of a reference layout for target joints and an objective layout for the target joints. An object layout determining unit 54 determines a layout of the object in a virtual space on the basis of the final layout of the multiple skeleton joints.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a program, an object arrangement system, and an object arrangement method.

  The reality of the movement of objects such as game characters arranged in a virtual space is improved by a program that uses a physics engine that is software that simulates a physical law such as a law of classical mechanics.

  In a program using a physics engine, a rag doll composed of a plurality of rag doll parts associated with each other by constraints (constraint conditions) may be associated with an object such as a game character.

  In this case, for example, physical parameters such as physical quantity such as position, orientation, mass, moment of inertia, speed, angular velocity, and physical conditions such as upper speed limit and upper limit angular speed are set in each ragdoll part. Based on the value of the physical parameter at a certain timing and the above-described constraint, a physical simulation process by the physics engine is executed for each ragdoll part, and the arrangement of each ragdoll part at a subsequent timing is determined. Then, in accordance with the arrangement of the plurality of rag doll parts determined in this way, a new arrangement of objects corresponding to the rag doll composed of the plurality of rag doll parts is determined.

  When determining the arrangement of objects as described above, the determined arrangement of objects may be unnatural. For example, even if the game character continues to grab the object with his hand, the game character's hand may be separated from the object in the determined arrangement of the object. In such a situation, the reality in the expression of objects such as game characters arranged in the virtual space is lost.

  The present invention has been made in view of the above problems, and one of its purposes is to provide a program, an object arrangement system, and an object arrangement method capable of expressing an object corresponding to a ragdoll subjected to physical simulation processing with high reality. There is to do.

  In order to solve the above-described problem, a program according to the present invention includes a plurality of objects associated with an object based on the current arrangement of the object arranged in the virtual space and the target arrangement of the object. Physical parameter setting procedure for setting physical parameter values for ragdoll parts, physical simulation processing execution procedure for executing physical simulation processing according to the physical parameters for the plurality of ragdoll parts, after execution of the physical simulation processing A reference arrangement determining procedure for determining a reference arrangement of a plurality of skeleton joints associated with the object based on an arrangement of the plurality of ragdoll parts; and the reference arrangement of a target joint which is one of the plurality of skeleton joints And the target An arrangement correction procedure for correcting the reference arrangement of the plurality of skeleton joints to a final arrangement based on a target arrangement of a plurality of skeleton joints, and the virtual space of the object based on the final arrangement of the plurality of skeleton joints The computer executes an object arrangement determining procedure for determining the arrangement in the computer.

  In one aspect of the present invention, in the arrangement correction procedure, the reference arrangement of the plurality of skeleton joints is corrected to the final arrangement so that the reference arrangement of the target joint matches the target arrangement of the target joint. .

  Alternatively, in the arrangement correction procedure, the reference positions of the plurality of skeleton joints are such that the final arrangement of the target joint is an arrangement obtained by interpolating the reference arrangement of the target joint and a target arrangement of the target joint. Modify the placement to the final placement.

  In this aspect, in the arrangement correction procedure, the final arrangement of the target joint is a weight calculated based on the time from the start timing of interpolation to the current time and the time from the current time to the end timing of interpolation, The reference arrangement of the plurality of skeleton joints may be modified to the final arrangement so that the reference arrangement of the target joint and the target arrangement of the target joint are interpolated.

  In one aspect of the present invention, in the arrangement correction procedure, a first arrangement of the plurality of skeleton joints is determined based on the reference arrangement of the target joint and a target arrangement of the target joint, Determining a second arrangement of the plurality of skeleton joints based on the reference arrangement of the skeleton joints different from the target joint of the plurality of skeleton joints and a target arrangement of the skeleton joints; The reference arrangement of the plurality of skeleton joints is corrected to the final arrangement so that the arrangement obtained by interpolating the arrangement of the second arrangement and the second arrangement becomes the final arrangement of the plurality of skeleton joints.

  In this aspect, in the arrangement correction procedure, the first arrangement and the second are calculated with weights calculated based on the time from the start timing of interpolation to the present and the time from the present to the end timing of interpolation. The reference arrangement of the plurality of skeleton joints may be modified to the final arrangement so that an arrangement obtained by interpolating the arrangement of the plurality of skeleton joints becomes the final arrangement of the plurality of skeleton joints.

  Further, the object placement system according to the present invention provides a plurality of ragdoll parts associated with the object based on the current placement of the object placed in the virtual space and the target placement of the object. A physical parameter setting unit for setting a physical parameter value; a physical simulation process executing unit for executing a physical simulation process in accordance with the physical parameter for the plurality of ragdoll parts; and the plurality of the post-physical simulation process A reference arrangement determining unit that determines a reference arrangement of a plurality of skeleton joints associated with the object based on an arrangement of the rag doll parts; and the reference arrangement of a target joint that is one of the plurality of skeleton joints; The target An arrangement correction unit that corrects the reference arrangement of the plurality of skeleton joints to a final arrangement based on a target arrangement of the objects; and the virtual space of the object based on the final arrangement of the plurality of skeleton joints An object placement determining unit for determining the placement in the inside.

  Further, the object placement method according to the present invention provides a plurality of ragdoll parts associated with the object based on the current placement of the object placed in the virtual space and the target placement of the object. Based on a step of setting a value of a physical parameter, a step of executing a physical simulation process according to the physical parameter for the plurality of ragdoll parts, and an arrangement of the plurality of ragdoll parts after the execution of the physical simulation process Determining a reference arrangement of a plurality of skeleton joints associated with the object; and a reference arrangement of a target joint that is one of the plurality of skeleton joints and an arrangement that is a target of the target joint. Based on the above And correcting of the reference arrangement of the skeleton joints in the final arrangement, based on the final arrangement of the plurality of skeletons joints, and determining the placement of the virtual space of the object.

It is a block diagram of the entertainment apparatus which concerns on one Embodiment of this invention. It is a figure which shows an example of virtual space. It is a figure which shows an example of a skeleton. It is a figure which shows an example of a rag doll. It is explanatory drawing explaining the 1st expression example. It is explanatory drawing explaining the 1st expression example. It is explanatory drawing explaining the 1st expression example. It is explanatory drawing explaining the 1st expression example. It is explanatory drawing explaining the 1st expression example. It is explanatory drawing explaining the 2nd example of expression. It is explanatory drawing explaining the 2nd example of expression. It is explanatory drawing explaining the 2nd example of expression. It is explanatory drawing explaining the 2nd example of expression. It is explanatory drawing explaining the 2nd example of expression. It is explanatory drawing explaining the 2nd example of expression. It is explanatory drawing explaining the 3rd example of expression. It is explanatory drawing explaining the 3rd example of expression. It is a functional block diagram which shows an example of the function mounted with the entertainment apparatus which concerns on one Embodiment of this invention. It is a flowchart which shows an example of the flow of the process performed with the entertainment apparatus which concerns on one Embodiment of this invention.

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

  FIG. 1 is a configuration diagram of an entertainment apparatus 10 according to an embodiment of the present invention. The entertainment apparatus 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 entertainment apparatus 10 according to the present embodiment includes a processor 12, a storage unit 14, an operation unit 16, and a display unit 18.

  The processor 12 is a program control device such as a CPU that operates according to a program installed in the entertainment 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 game console controller, or the like. The operation unit 16 receives a user operation input and outputs a signal indicating the content to the processor 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 processor 12.

  The entertainment 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 entertainment apparatus 10 according to the present embodiment constructs a virtual space 20 illustrated in FIG. 2 on a memory by executing a program according to the present embodiment. 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, and a wall object 26 are arranged together with a viewpoint 28. In the present embodiment, an image representing a state in which the viewing direction is viewed from the viewpoint 28 is displayed on the display unit 18. Further, in the present embodiment, the update of the placement of the virtual object such as the player object 22 and the display of the image representing the state of viewing the viewing direction from the viewpoint 28 are executed at a predetermined frame rate.

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

  In addition, the program executed by the entertainment apparatus 10 according to the present embodiment has a function of a physics engine that executes a physical simulation process that simulates a physical law such as a law of classical mechanics.

  For rendering the player object 22 according to the present embodiment, a skeleton animation technique is used. FIG. 3 is a diagram illustrating an example of a virtual skeleton 30 associated with the player object 22. FIG. 3 shows the skeleton 30 in a situation where the player object 22 stands facing the front side of the front side. The skeleton 30 according to the present embodiment is an invisible virtual object. As shown in FIG. 3, the skeleton 30 includes, for example, a plurality of skeleton joints 32 (32a to 32s) in which a parent-child relationship is set. Of these skeleton joints 32, the root skeleton joint 32a associated with the body of the player object 22 is set as the highest parent. In the example of FIG. 3, the skeleton joint 32 is represented by a circle, and the parent-child relationship between the skeleton joints 32 is represented by a line. Each skeleton joint 32 is set in position and orientation.

  In the present embodiment, the pose of the skeleton 30 is uniquely determined by the arrangement of each skeleton joint 32 based on the arrangement of the root skeleton joint 32a. For example, the pose of the skeleton 30 is uniquely determined by the combination of the position and orientation of each skeleton joint 32 based on the position and orientation of the root skeleton joint 32a. In the present embodiment, the skeleton 30 having a pose determined according to the position and orientation of the root skeleton joint 32 a in the virtual space 20 is arranged in the virtual space 20. In this embodiment, a polygon model of the player object 22 corresponding to the skeleton 30 arranged in this way is generated and arranged in the virtual space 20. As described above, in this embodiment, the pose of the player object 22 is uniquely determined by the pose of the skeleton 30. Further, the position and orientation of the player object 22 are uniquely determined based on the position and orientation of the root skeleton joint 32a.

  FIG. 4 is a diagram illustrating an example of a rag doll 34 associated with the skeleton 30 illustrated in FIG. 3. The rag doll 34 according to the present embodiment is an invisible virtual object. In the present embodiment, a physical simulation process by a physics engine is executed on the rag doll 34 illustrated in FIG. In FIG. 4, the skeleton 30 associated with the rag doll 34 is indicated by a two-dot chain line for reference. The rag doll 34 includes a plurality of rag doll parts 36 (36a to 36m) and a constraint 38 (38a to 38l) indicating physical restrictions between the rag doll parts 36. Each rag doll part 36 has, for example, a columnar shape, a capsule shape, a spherical shape, or a shape obtained by combining these. As shown in FIG. 4, the skeleton joint 32 and the rag doll part 36 do not have to be associated one-on-one. In the example of FIG. 4, a constraint 38 is set between the combinations of the rag doll parts 36 associated with the combination of the skeleton joints 32 having a parent-child relationship.

  The rag doll part 36 is set with physical parameter values indicating physical quantities (for example, position, orientation, mass, moment of inertia, speed, angular velocity) and physical conditions (for example, upper limit of velocity and upper limit of angular velocity) of the rag doll part 36. ing. In addition, a constraint 38 that associates a plurality of ragdoll parts 36 is set with parameter values indicating constraint conditions such as an upper limit and a lower limit of a distance between the plurality of ragdoll parts 36 and an upper limit and a lower limit of an angle. In the present embodiment, for example, the arrangement of each rag doll part 36 that satisfies the constraint condition indicated by the parameter value of the constraint 38 is determined by the constraint solver included in the physical engine. Some of the physical parameter values set in the ragdoll part 36 and the parameter values set in the constraint 38 are variable depending on the situation. There are also things.

  In the present embodiment, the player object 22 operates in either the key frame mode or the dynamic mode. The operation mode of the player object 22 can be appropriately changed by a program executed by the entertainment device 10.

  In the present embodiment, for example, based on the operation input by the player, the arrangement of the skeleton 30 in the previous frame, and the like, the target arrangement of the skeleton 30 in the frame is determined. Hereinafter, the arrangement determined in this way is referred to as a target arrangement. The target arrangement may be affected by the value of a parameter that represents the status of the virtual space 20 or other virtual object.

  For example, when the operation mode of the player object 22 is the dynamic mode, the value of the physical parameter of each rag doll part 36 is set based on the arrangement of the skeleton 30 and the target arrangement of the skeleton 30 in the immediately preceding frame. Then, a physical simulation process is executed for each ragdoll part 36 in which the values of the physical parameters are set in this way. The arrangement of the skeleton 30 is determined based on the arrangement of the rag dolls 34 after the execution of the physical simulation process. Then, an arrangement uniquely determined based on the arrangement of the skeleton 30 determined in this way is determined as the arrangement of the player object 22.

  On the other hand, for example, when the operation mode of the player object 22 is the key frame mode, an arrangement uniquely determined based on the target arrangement itself of the skeleton 30 is determined as the arrangement of the player object 22. Therefore, in this case, the placement of the player object 22 is not affected by the execution result of the physical simulation process for the rag doll 34. However, even in this case, the physical simulation process for the rag doll 34 is executed, and the execution result affects the arrangement of other virtual objects in the virtual space 20.

  In the entertainment apparatus 10 according to the present embodiment, the player object 22 is expressed with high reality by adopting animation expressions as shown in the following first to third expression examples. Further, according to the present embodiment, a part of an animator task for expressing the animation of the player object 22 with high reality is automated.

  Hereinafter, a first expression example of the animation expression in the present embodiment will be described with reference to FIGS. 5A to 5E.

  In the first expression example, it is assumed that the player object 22 is holding the wall object 26 with his hand and is hanging on the wall object 26 as shown in FIG. FIG. 5A shows an example of the skeleton 30 and the rag doll 34 associated with the player object 22 in the state shown in FIG. Here, for example, the skeleton joint 32k associated with the tip of the left hand is disposed at the point P1 on the wall object 26, and the skeleton joint 32h associated with the tip of the right hand is disposed at the point P2 on the wall object 26. Suppose that In FIG. 5A, the illustration of the constraint 38 set between the rag doll parts 36 is omitted.

  In the first expression example, it is assumed that a constraint 38m indicating the connection between the rag doll part 36g and the position of the point P1 is generated. Here, for example, a constraint 38m indicating a connection between the rag doll part 36g and the rag doll part 36 arranged at the position of the point P1 may be generated. By this constraint 38m, the constraint solver of the physics engine determines the arrangement of each rag doll part 36 so that the distance between the position of the rag doll part 36g and the position of the point P1 is as short as possible. It is also assumed that a constraint 38n indicating the connection between the rag doll part 36e and the position of the point P2 is generated. Here, for example, a constraint 38n indicating the connection between the rag doll part 36e and the rag doll part 36 arranged at the position of the point P2 may be generated. By this constraint 38n, the constraint solver of the physics engine determines the arrangement of each rag doll part 36 so that the distance between the position of the rag doll part 36e and the position of the point P2 is as short as possible.

  Here, FIG. 5B illustrates a physical simulation result for the rag doll part 36 when the wall object 26 moves at high speed toward the right side in the situation shown in FIG. 5A. Here, for example, in the next frame in the situation shown in FIG. 5A, the wall object 26 moves to the position illustrated in FIG. 5B. Also in FIG. 5B, the illustration of the constraint 38 set between the rag doll parts 36 is omitted.

  In the present embodiment, the physical simulation process is executed independently for each ragdoll part 36. Therefore, as shown in FIG. 5B, as a result of the physical simulation process, the rag doll 34 may extend vertically as a whole.

  FIG. 5C shows an example of the arrangement of the skeleton 30 that is uniquely determined based on the rag doll 34 shown in FIG. 5B. When the rag doll 34 shown in FIG. 5B extends vertically as a whole, the skeleton 30 shown in FIG. 5C also extends vertically as a whole. Therefore, when the player object 22 generated based on the skeleton 30 shown in FIG. 5C is rendered, the displayed player object 22 extends vertically as a whole. Further, the position of the hand of the player object 22 is deviated from the grasped position.

  FIG. 5D shows an example of a state in which the arrangement of the skeleton joint 32 shown in FIG. 5C is corrected while maintaining the position and orientation of the root skeleton joint 32a. Hereinafter, in the first expression example, the arrangement of the skeleton joint 32 illustrated in FIG. 5D is referred to as a reference arrangement. Here, the direction from a skeleton joint 32 to the skeleton joint 32 that is a child of the skeleton joint 32 is maintained before and after correction. On the other hand, the length between the two skeleton joints 32 in the parent-child relationship is the length in the state shown in FIG. 5A before the execution of the physical simulation process. When the player object 22 generated based on the skeleton joint 32 of the reference arrangement shown in FIG. 5D is rendered, it is possible to prevent the displayed player object 22 from extending vertically as a whole. However, in this case as well, the position of the displayed hand of the player object 22 will deviate from the position it was gripping.

  Based on the above points, in the first expression example, the skeleton 30 is arranged as illustrated in FIG. 5E. In FIG. 5E, the reference arrangement of the skeleton joint 32 shown in FIG. 5D is corrected so that the position of the skeleton joint 32k is arranged at the point P1 on the wall object 26. Hereinafter, in the first expression example, the arrangement of the skeleton joint 32 illustrated in FIG. 5E is referred to as a final arrangement. In the example of FIG. 5E, the plurality of skeleton joints 32 are translated as a whole while the relative arrangement of the plurality of skeleton joints 32 is maintained in the state shown in FIG. 5D. When the player object 22 generated based on the skeleton joint 32 of the final arrangement shown in FIG. 5E is rendered, the left hand of the player object 22 to be displayed is arranged at the point P1 on the wall object 26. Therefore, the displayed player object 22 is expressed with high reality.

  In the final arrangement of the skeleton joint 32 in the first expression example, the position of the skeleton joint 32h may be arranged at the point P2 on the wall object 26. In this case, the right hand of the displayed player object 22 is placed at the point P2 on the wall object 26.

  As described above, in the first expression example, a state in which the body is shaken while the player object 22 holds the wall object 26 is expressed with high reality.

  Next, a second expression example of the animation expression in the present embodiment will be described with reference to FIGS. 6A to 6F. In FIGS. 6A to 6F, some of the skeleton joints 32, some of the rag doll parts 36, and the constraints 38 set between the rag doll parts 36 are omitted.

  In the second expression example, a state where the player object 22 standing on the floor object 24 with the wall object 26 in the back jumps while twisting the body and grabs the point P3 on the wall object 26 with the right hand is expressed.

  In the second expression example, first, the player object 22 is displayed in a state in which the player object 22 jumps right above in the state of operating in the key frame mode, and then the operation mode shifts to the dynamic mode.

  FIG. 6A shows an example of the skeleton 30 and the rag doll 34 at the timing when the operation mode of the player object 22 shifts to the dynamic mode. The arrangement of the skeleton 30 is an arrangement that is uniquely determined based on the arrangement of the rag dolls 34. In the second expression example, the arrangement of the skeletons 30 illustrated in FIG. 6A corresponds to the reference arrangement.

  Here, for example, a constraint 38o indicating the connection between the ragdoll part 36e and the position of the point P3 is generated. Here, for example, a constraint 38o indicating the connection between the rag doll part 36e and the rag doll part 36 arranged at the position of the point P3 may be generated. With this constraint 38o, the constraint solver of the physics engine determines the arrangement of each rag doll part 36 so that the distance between the position of the rag doll part 36e and the position of the point P3 is as short as possible.

  In this case, as illustrated in FIG. 6B, the rag doll part 36e approaches the position of the point P3. However, when this is done, the animation expression of the player object 22 becomes unnatural. Specifically, in this case, the state in which the player object 22 jumps while twisting his / her own intention is not expressed with high reality.

  Here, for example, as shown in FIG. 6C, it is assumed that the arrangement of the skeleton joint 32 shown in FIG. 6A is corrected so that the skeleton joint 32h is arranged at the point P3 on the wall object 26. Here, the relative arrangement of the plurality of skeleton joints 32 is translated as a whole while the state shown in FIG. 6A is maintained. However, if this is done, the player object 22 sinks into the wall object 26, and the animation expression of the player object 22 is also unnatural.

  Based on the above points, in the second expression example, the player object 22 jumps while twisting his / her own body by rotating the entire skeleton 30 gradually over a given interpolation time T as follows. Was expressed with high reality.

  In FIG. 6D, the skeleton 30 shown in FIG. 6A is indicated by a two-dot chain line, and the skeleton 30 obtained by rotating the entire skeleton 30 without changing the position of the root skeleton joint 32a is indicated by a solid line. As shown in FIG. 6D, in the second expression example, first, a vector V1 from the root skeleton joint 32a to the skeleton joint 32h and a vector V2 from the root skeleton joint 32a to the point P3 are specified. And the arrangement | positioning which rotated these several skeleton joint 32 as a whole is specified, maintaining the relative arrangement | positioning of the several skeleton joint 32, and the position of the root skeleton joint 32a in the state shown to FIG. 6A. Here, an arrangement in which the vector V1 is rotated so as to overlap the vector V2 is specified.

  Here, for example, the rotation axis of the root skeleton joint 32a corresponds to the direction of the outer product of a vector obtained by normalizing the vector V1 and a vector obtained by normalizing the vector V2. The rotation angle of the root skeleton joint 32a corresponds to the arc cosine value of the inner product of the vector normalized by the vector V1 and the vector normalized by the vector V2. Here, by applying the quaternion associated with the rotation axis and the rotation angle calculated as described above to the plurality of skeleton joints 32 in the reference arrangement, the arrangement obtained by rotating the plurality of skeleton joints 32 as a whole is specified. You may make it do.

  Then, as shown in FIG. 6E, an arrangement in which the plurality of skeleton joints 32 are translated as a whole is specified so that the position of the skeleton joint 32h overlaps the position of the point P3. In FIG. 6E, the skeleton 30 before translation is indicated by a two-dot chain line, and the skeleton 30 after translation is indicated by a solid line. Here, the arrangement in which the plurality of skeleton joints 32 are translated in parallel along the vector V2 is specified. Hereinafter, the arrangement of the skeleton 30 indicated by the solid line in FIG. 6E is referred to as an adjustment arrangement.

  In the second expression example, as illustrated in FIG. 6F, an arrangement obtained by interpolating the reference arrangement of the skeleton 30 and the adjustment arrangement of the skeleton 30 by a known interpolation technique is determined as the final arrangement of the skeleton 30. In FIG. 6F, the reference arrangement of the skeleton 30 is indicated by a broken line, and the adjustment arrangement of the skeleton 30 is indicated by a two-dot chain line. The final arrangement of the skeleton 30 after the interpolation is indicated by a solid line.

  Here, t is the time from the interpolation start timing to the present time in the second expression example. In this case, the weight of the reference arrangement skeleton 30 in the interpolation process is (T−t) / T, and the weight of the adjustment arrangement skeleton 30 is t / T. In this way, the player object 22 that rotates gradually is expressed with high reality. Note that examples of the interpolation technique used in the second expression example include linear interpolation and spherical linear interpolation, but interpolation techniques such as nonlinear interpolation other than these techniques may be used.

  In the second expression example, the physical simulation process is performed on the rag doll 34 of each frame, even during the interpolation process. The relative arrangement of the skeleton joint 32 (the pose of the skeleton 30) is uniquely determined based on the arrangement of the rag doll parts 36 after execution of the physical simulation process in the frame. The skeleton 30 whose pose is determined in this way is arranged in the virtual space 20.

  Next, a third expression example of the animation expression in the present embodiment will be described with reference to FIGS. 7A and 7B.

  In the third expression example, from the state where the left hand of the player object 22 grabs the point P4 on the wall object 26 shown in FIG. 7A, the right hand arranged at the point P5 shown in FIG. The movement to the position is expressed. Here, the left hand of the player object 22 corresponds to the skeleton joint 32k, and the right hand of the player object 22 corresponds to the skeleton joint 32h. Further, in the third expression example, the time from the timing when the left hand of the player object 22 grasps the point P4 on the wall object 26 to the timing when the right hand grasps the point P6 corresponds to the interpolation time T.

  FIG. 7A shows an example of a skeleton 30 and a rag doll 34 associated with the player object 22. In FIG. 7A, the illustration of the constraint 38 set between the rag doll parts 36 is omitted.

  In the third expression example, the skeleton joint 32k is arranged at the point P4 on the wall object 26 by correcting the skeleton joint 32 of the reference arrangement determined by the same method as the first expression example or the second expression example. The arrangement of the skeleton joint 32 is specified. This arrangement is referred to as a first adjustment arrangement. Further, the skeleton joint 32 in which the skeleton joint 32h is arranged at the point P6 on the wall object 26 is corrected by correcting the skeleton joint 32 having the reference arrangement determined by the same method as the first expression example or the second expression example. Is also specified. This arrangement will be referred to as a second adjustment arrangement. In FIG. 7B, the skeleton 30 of the first adjustment arrangement is indicated by a broken line, and the skeleton of the second adjustment arrangement is indicated by a two-dot chain line.

  In the third expression example, an arrangement obtained by interpolating the skeleton 30 having the first adjustment arrangement and the skeleton 30 having the second adjustment arrangement by a known interpolation technique is determined as the final arrangement of the skeleton 30. In FIG. 7B, the final placement of the interpolated skeleton 30 is indicated by a solid line.

  Here, the time from the interpolation start timing to the present time in the third expression example is t. In this case, the weight of the first adjustment arrangement in the interpolation process is (T−t) / T, and the weight of the second adjustment arrangement is t / T. In this way, the player object 22 that moves the right hand while hanging from the wall object 26 is expressed with high reality. Note that examples of the interpolation technique used in the third expression example include linear interpolation and spherical linear interpolation. However, other interpolation techniques such as nonlinear interpolation may be used.

  The expression in the third expression example can also be used to express the state in which the left hand is moved from the state in which the right hand of the player object 22 grabs the wall object 26 shown in FIG. 7A. Then, by alternately repeating the expression of moving the right hand and the expression of moving the left hand, the state in which the left and right hands are alternately moved from the state in which the player object 22 is hanging on the wall object 26 is expressed with high reality. Become.

  Hereinafter, functions of the entertainment device 10 according to the present embodiment and processing executed by the entertainment device 10 will be further described.

  FIG. 8 is a functional block diagram of the entertainment apparatus 10 according to the present embodiment. As shown in FIG. 8, the entertainment device 10 functionally includes an animation data storage unit 40, a skeleton data storage unit 42, a ragdoll data storage unit 44, a target arrangement determination unit 46, a physical parameter setting unit 48, and a physical simulation process execution. A unit 50, a feedback unit 52, an object arrangement determination unit 54, and an image generation output unit 56. The animation data storage unit 40, the skeleton data storage unit 42, and the ragdoll data storage unit 44 are mainly implemented by the storage unit 14. The target placement determination unit 46, physical parameter setting unit 48, physical simulation processing execution unit 50, feedback unit 52, and object placement determination unit 54 are implemented mainly by the processor 12. The image generation / output unit 56 is mainly mounted with the processor 12 and the display unit 18.

  The above functions may be implemented by causing the processor 12 to execute a program that is installed in the entertainment device 10 that is a computer and that includes instructions corresponding to the above functions. This program may be supplied to the entertainment apparatus 10 via a computer-readable information storage medium such as an optical disk, a magnetic disk, a magnetic tape, a magneto-optical disk, or a flash memory, or via the Internet.

  In the present embodiment, for example, data representing the virtual space 20 in which the virtual object is arranged is stored in the animation data storage unit 40. The animation data storage unit 40 also stores polygon data, texture data, and the like related to a virtual object arranged in the virtual space 20. The animation data storage unit 40 also stores key frame animation data for expressing the action of the player object 22 such as running, walking, jumping, and the like. The animation data storage unit 40 also stores data indicating rules for associating the arrangement of the skeleton joint 32 with the pose of the player object 22.

  In the present embodiment, for example, skeleton data representing the skeleton 30 is stored in the skeleton data storage unit 42. The skeleton data includes, for example, data indicating the position and orientation of the root skeleton joint 32a and data indicating the relative position and orientation of the skeleton joint 32 with respect to the root skeleton joint 32a. Further, the skeleton data includes, for each skeleton joint 32, identification information of the skeleton joint 32 that is the parent of the skeleton joint 32. The skeleton data storage unit 42 also stores data indicating rules for associating the arrangement of the rag doll parts 36 and the arrangement of the skeleton joints 32.

  In the present embodiment, for example, rag doll data representing the rag doll 34 is stored in the rag doll data storage unit 44. The rag doll data includes, for example, data in which the values of physical parameters set in each rag doll part 36 are set, data in which the values of parameters of the constraint 38 are set, and the like. The rag doll data storage unit 44 also stores data indicating rules for determining values of physical parameters set in the rag doll part 36 based on the current arrangement of the skeleton 30 and the target arrangement of the skeleton 30.

  In the present embodiment, the target arrangement determining unit 46 determines the target arrangement of the object based on, for example, an operation input by the player or the current arrangement of the object arranged in the virtual space 20. Here, the target arrangement of the skeleton 30 in the frame may be determined based on, for example, an operation input by the player or the arrangement of the skeleton 30 in the immediately preceding frame. Further, as described above, the target arrangement may be affected by the value of a parameter representing the status of the virtual space 20 or other virtual objects.

  In this embodiment, for example, the physical parameter setting unit 48 sets the value of the physical parameter based on the current arrangement of the object arranged in the virtual space 20 and the target arrangement of the object. Here, for example, based on the current arrangement of the plurality of skeleton joints 32 and the target arrangement of the player object 22, the values of physical parameters for the plurality of ragdoll parts 36 associated with the player object 22 are set. Good. Further, for example, based on the current arrangement of the plurality of ragdoll parts 36 and the target arrangement of the player object 22, values of physical parameters for the plurality of ragdoll parts 36 associated with the player object 22 may be set. . Further, for example, based on data indicating the current arrangement of the skeleton 30, the target arrangement of the skeleton 30, and the rules stored in the ragdoll data storage unit 44, the values of the physical parameters for the plurality of ragdoll parts 36 are set. May be. For example, the value of the physical parameter for each rag doll part 36 set in the rag roll data may be changed.

  In the present embodiment, the physical simulation process execution unit 50 executes, for example, a physical simulation process corresponding to a set physical parameter for a plurality of ragdoll parts 36. Here, for example, the physical simulation process for each rag doll part 36 is executed based on the value of the physical parameter set for each rag doll part or the value of the parameter set for the constraint 38. Then, the values of physical parameters such as position and orientation for each ragdoll part 36 set in the ragdoll data are changed.

  In the present embodiment, for example, the feedback unit 52 feeds back the execution result of the physical simulation process for the plurality of rag doll parts 36 to the arrangement of the skeleton joint 32. For example, the feedback unit 52 determines the reference arrangement of the plurality of skeleton joints 32 associated with the player object 22 based on the arrangement of the plurality of rag doll parts 36 after execution of the physical simulation process. Here, data indicating the position and orientation of the skeleton joint 32 included in the skeleton data may be determined.

  In the present embodiment, the feedback unit 52 determines a target joint that is a determination criterion for the final arrangement of the skeleton joint 32. For example, in the first expression example described above, the skeleton joint 32k corresponds to the target joint, and in the second expression example, the skeleton joint 32h corresponds to the target joint.

  A plurality of target joints may be determined. In the third expression example, the skeleton joint 32k corresponds to a first target joint corresponding to the first adjustment arrangement, and the skeleton joint 32h corresponds to a second target joint corresponding to the second adjustment arrangement.

  In this embodiment, the feedback unit 52 corrects the reference arrangement of the skeleton joints 32 to the final arrangement. Here, the feedback unit 52 may correct the reference arrangement of the plurality of skeleton joints 32 to the final arrangement based on the reference arrangement of the target joint and the target arrangement of the target joint. In this case, both the rotational movement and the parallel movement may be performed on the entire skeleton 30, or only one of them may be performed. In this case, the data indicating the position and orientation of the skeleton joint 32 included in the skeleton data may be changed. Further, the relative arrangement of the plurality of skeleton joints 32 in the final arrangement may be the same as the relative arrangement of the plurality of skeleton joints 32 in the reference arrangement.

  As in the first expression example, the reference arrangement of the plurality of skeleton joints 32 may be corrected to the final arrangement so that the reference arrangement of the target joint matches the target arrangement of the target joint.

  Further, as in the second expression example, the reference arrangement of the plurality of skeleton joints 32 is changed to the final arrangement so that the final arrangement of the target joint is an arrangement obtained by interpolating the reference arrangement of the target joint and the target arrangement of the target joint. It may be modified. Here, the target arrangement of the target joint corresponds to the arrangement of the target joint in the adjustment arrangement. Further, in this case, for example, the reference joint arrangement and adjustment of the target joint with weights calculated based on the time t from the interpolation start timing to the present and the time from the present to the interpolation end timing (T−t). The arrangement may be interpolated. Here, for example, the weight of the reference arrangement may be (T−t) / T and the weight of the adjustment arrangement may be t / T.

  Further, as in the third expression example, a plurality of adjustment arrangements of the skeleton 30 may be determined. For example, the first adjustment arrangement may be determined based on the target arrangement of the first target joint, and the second adjustment arrangement may be determined based on the arrangement of the second target joint. An arrangement obtained by interpolating the plurality of adjustment arrangements may be determined as the final arrangement of the plurality of skeleton joints 32. For example, an arrangement obtained by interpolating the first adjustment arrangement and the second adjustment arrangement may be determined as the final arrangement of the plurality of skeleton joints 32. Here, for example, with the weight calculated based on the time t from the start timing of the interpolation to the present time and the time (T−t) from the present time to the end timing of the interpolation, the first adjustment arrangement and the second The adjustment arrangement may be interpolated. Here, for example, the weight of the first adjustment arrangement may be (T−t) / T and the weight of the second adjustment arrangement may be t / T. Then, the reference arrangement of the plurality of skeleton joints 32 may be corrected to the final arrangement determined in this way.

  In this embodiment, for example, the object placement determination unit 54 determines the placement of the player object 22 in the virtual space 20 based on the final placement of the plurality of skeleton joints 32. Here, for example, the position, orientation, and pose of the player object 22 may be determined based on data stored in the animation data storage unit 40. Then, the object placement determination unit 54 places the player object 22 in the virtual space 20 according to the placement thus determined. Here, for example, data representing the virtual space 20 stored in the animation data storage unit 40 may be updated.

  In the present embodiment, for example, the image generation / output unit 56 displays an image representing a state in which the viewing direction is viewed from the viewpoint 28 in the virtual space 20.

  Here, an example of the flow of processing in the expression in the above-described second expression example performed in the entertainment apparatus 10 according to the present embodiment will be described with reference to the flowchart illustrated in FIG. In this processing example, the following processing loop shown in S101 to S112 is repeatedly executed at a predetermined frame rate.

  First, the target arrangement determining unit 46 determines the target arrangement of each skeleton joint 32 (S101). In the process shown in S101, for example, a blend process or an inverse kinematic process may be executed together.

  Then, the physical parameter setting unit 48 sets the value of the physical parameter of each rag doll part 36 based on the current position of each skeleton joint 32 and the target arrangement determined in the process shown in S101 (S102).

  Then, the physical simulation process execution unit 50 executes a physical simulation process for each ragdoll part 36 (S103). As described above, in the present processing example, the physical simulation process is executed regardless of whether the operation mode of the player object 22 is the dynamic mode or the key frame mode.

  Then, the feedback unit 52 confirms the operation mode of the player object 22 (S104).

  Here, it is assumed that the dynamic mode is confirmed. In this case, the feedback unit 52 determines the reference arrangement of the skeleton joint 32 based on the execution result of the physical simulation process in the process shown in S103 (S105).

  Then, the feedback unit 52 determines the amount of movement and the amount of rotation of the target joint based on the vector V1 and the vector V2 (S106).

  Then, the feedback unit 52 determines the adjustment arrangement of the skeleton joint 32 (S107). Here, for example, in a state where the position of the root skeleton joint 32a is maintained, the skeleton joint 32 of the reference arrangement determined in the process shown in S105 is moved according to the movement amount and the rotation amount determined in the process shown in S106. This arrangement is determined as the adjustment arrangement.

  Then, the feedback unit 52 determines the final arrangement of the skeleton 30 by interpolating the reference arrangement determined in the process shown in S105 and the adjustment arrangement determined in the process shown in S107 (S108).

  Then, the feedback unit 52 executes predetermined post-processing (S109). Examples of the post-processing include blend processing and inverse kinematic processing.

  Then, the object placement determination unit 54 places the player object 22 in the virtual space 20 based on the final placement skeleton 30 that has been post-processed in the process shown in S109 (S110).

  On the other hand, it is assumed that the key frame mode is confirmed in the process shown in S104. In this case, the object placement determination unit 54 places the player object 22 in the virtual space 20 based on the target placement of the skeleton 30 determined in the process shown in S101 (S111). In the processing shown in S110 or S111, virtual objects other than the player object 22 are also arranged in the virtual space 20.

  Then, when the processing shown in S110 or S111 is completed, the image generation / output unit 56 displays an image representing the viewing direction from the viewpoint 28 in the virtual space 20 (S112), and returns to the processing shown in S101. .

  Note that only the movement amount may be determined in the processing shown in S106 of the above processing example. Further, the process shown in S107 may not be executed, and the arrangement of the skeleton 30 in which the target joint is arranged at the target position in the process shown in S108 may be determined as the final arrangement. The flow of processing in the expression in the first expression example corresponds to this case.

  Further, a plurality of combinations of movement amounts and rotation amounts may be determined by the processing shown in S106 of the above processing example. And the some adjustment arrangement | positioning about the skeleton 30 may be determined by the process shown to S107. In the process shown in S108, the final arrangement of the skeleton 30 may be determined by interpolating the plurality of adjustment arrangements determined in the process shown in S107. The flow of processing in the expression in the third expression example corresponds to this case.

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

  For example, the application range of the present invention is not limited to game characters such as the player object 22. For example, the present invention may be applied to a virtual object attached to an object that moves at high speed, in which priority is given to visual consistency.

  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 entertainment apparatus 10.

  The specific character strings and numerical values described above and the specific character strings and numerical values in the drawings are examples, and are not limited to these character strings and numerical values.

  10 entertainment devices, 12 processors, 14 storage units, 16 operation units, 18 display units, 20 virtual spaces, 22 player objects, 24 floor objects, 26 wall objects, 28 viewpoints, 30 skeletons, 32 skeleton joints, 32a root skeleton joints, 34 Ragdoll, 36 Ragdoll parts, 38 Constraint, 40 Animation data storage unit, 42 Skeleton data storage unit, 44 Ragdoll data storage unit, 46 Target arrangement determination unit, 48 Physical parameter setting unit, 50 Physical simulation processing execution unit, 52 A feedback unit, 54 an object arrangement determination unit, and 56 an image generation output unit.

Claims (8)

A physical parameter setting procedure for setting physical parameter values for a plurality of ragdoll parts associated with the object based on the current arrangement of the object arranged in the virtual space and the target arrangement of the object ,
A physical simulation process execution procedure for executing a physical simulation process according to the physical parameters for the plurality of ragdoll parts;
A reference arrangement determination procedure for determining a reference arrangement of a plurality of skeleton joints associated with the object based on an arrangement of the plurality of ragdoll parts after the execution of the physical simulation process;
An arrangement correction procedure for correcting the reference arrangement of the plurality of skeleton joints to a final arrangement based on the reference arrangement of the target joint that is one of the plurality of skeleton joints and the target arrangement of the target joint. ,
An object placement determination procedure for determining placement of the object in the virtual space based on the final placement of the plurality of skeleton joints;
A program that causes a computer to execute. In the arrangement correction procedure, the reference arrangement of the plurality of skeleton joints is corrected to the final arrangement so that the reference arrangement of the target joint matches the target arrangement of the target joint.
The program according to claim 1. In the arrangement correction procedure, the reference arrangement of the plurality of skeleton joints is set so that the final arrangement of the target joint is an arrangement obtained by interpolating the reference arrangement of the target joint and a target arrangement of the target joint. Modify the final placement,
The program according to claim 1. In the arrangement correction procedure, the final arrangement of the target joint is a weight calculated based on the time from the start timing of interpolation to the current time and the time from the current time to the end timing of interpolation. Correcting the reference arrangement of the plurality of skeleton joints to the final arrangement so as to be an arrangement obtained by interpolating the reference arrangement and a target arrangement of the target joint;
The program according to claim 3. In the arrangement correction procedure,
Determining a first arrangement of the plurality of skeleton joints based on the reference arrangement of the target joints and a target arrangement of the target joints;
Determining a second arrangement of the plurality of skeleton joints based on the reference arrangement of the skeleton joints different from the target joint of the plurality of skeleton joints and a target arrangement of the skeleton joints;
Correcting the reference arrangement of the plurality of skeleton joints to the final arrangement so that an arrangement obtained by interpolating the first arrangement and the second arrangement becomes the final arrangement of the plurality of skeleton joints;
The program according to any one of claims 1 to 4, wherein: In the arrangement correction procedure, the first arrangement and the second arrangement are calculated with weights calculated based on the time from the start timing of interpolation to the present and the time from the present to the end timing of interpolation. Modifying the reference arrangement of the plurality of skeleton joints to the final arrangement such that the interpolated arrangement is the final arrangement of the plurality of skeleton joints;
The program according to claim 5. A physical parameter setting unit that sets physical parameter values for a plurality of ragdoll parts associated with the object based on the current arrangement of the object arranged in the virtual space and the target arrangement of the object When,
A physical simulation process execution unit that executes a physical simulation process according to the physical parameter for the plurality of ragdoll parts;
A reference arrangement determining unit that determines a reference arrangement of a plurality of skeleton joints associated with the object based on the arrangement of the plurality of ragdoll parts after the execution of the physical simulation process;
An arrangement correction unit that corrects the reference arrangement of the plurality of skeleton joints to a final arrangement based on the reference arrangement of the target joint that is one of the plurality of skeleton joints and the target arrangement of the target joint. When,
An object arrangement determining unit that determines an arrangement of the object in the virtual space based on the final arrangement of the plurality of skeleton joints;
An object placement system comprising: Setting physical parameter values for a plurality of ragdoll parts associated with the object based on the current arrangement of the object arranged in the virtual space and the target arrangement of the object;
Executing a physical simulation process according to the physical parameter for the plurality of ragdoll parts;
Determining a reference arrangement of a plurality of skeleton joints associated with the object based on the arrangement of the plurality of ragdoll parts after the execution of the physical simulation process;
Modifying the reference arrangement of the plurality of skeleton joints to a final arrangement based on the reference arrangement of a target joint that is one of the plurality of skeleton joints and a target arrangement of the target joint;
Determining an arrangement of the object in the virtual space based on the final arrangement of the plurality of skeleton joints;
An object placement method characterized by comprising:

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