JP4358752B2 - Statistical mechanical collision methods and equipment - Google Patents

Description

  The present invention relates to the field of computer graphics, and in particular to a method and apparatus for animating computer-generated characters. The present invention relates to the field of computer graphics. Many computer graphic images are created by mathematically modeling the interaction between light and a 3D scene from a given viewpoint. This process, called rendering, creates a two-dimensional image of a scene from a given viewpoint and is similar to taking a picture of a real world landscape. An animation sequence can be created by rendering a sequence of images of the scene as the scene gradually changes over time. A great deal of effort is spent creating realistic rendered images and animations.

  Animation, whether hand-drawn or computer-generated, is both art and art. Animation must not only make the scene look real, but also convey the appropriate drama progress and emotional impact required by the story. This is especially true when character animating. Characters are the driving force of the story's drama progression and establish emotional ties with viewers.

  To create an artistic character animation, the animator creates a rough version of the scene and then fine-tunes the character animation to create the desired drama and representation of the final scene. There are many cases. This is similar to a movie director rehearsing a scene with actors to capture the complete mood of the scene. Because animators are responsible for the expressive power of character animations, it is important for animators to use animation tools to efficiently fine-tune character animations and accurately preview the final aspects of the animation It is.

  In computer-generated animation, the appearance of a character is defined by a three-dimensional computer model. To make it look real, a character's computer model is extremely complex and often has millions of surfaces and hundreds or thousands of attributes. Because the task of animating such a complex model is complicated, animation tools often rely on armatures and animation variables to define character animation. An armature is a “stick figure” that represents a character's pose. By moving the armature segment that is the “stick” of the “stick figure”, the armature can be manipulated to the desired pose. Once the animator determines the armature's pose, use the animation tool to modify the character model so that the character's posture roughly reflects the armature's posture.

  Animation variables are another way to define character animation for complex character models. Animation variables are parameters used by functions that modify the character model. Using animation variables and their associated functionality, abstract intricate modifications into a character model for relatively simple controls. For example, the opening degree of the character's mouth can be defined by an animation variable. In this example, the value of the animation variable is used to determine the position of the various parts of the character's armature necessary to open the character's mouth at the desired opening. Then, with the animation tool, modify the character model according to the final pose setting armature to create a character model with an open mouth.

  There are various approaches to creating a final pose character model from one armature. One conventional approach is to associate points on the character model with one or more armature segments. As the armature moves to a pose, the points associated with each armature segment are kinematically converted to a new position based on the position of the associated posed armature segment. Because this kinematic transformation can be performed at high speed, the animator can preview and fine-tune the animation interactively in real time or near real time. However, the animations resulting from kinematic transformations often appear to be stiff and are just like “dolls”.

  Furthermore, many characters such as humans and animals are soft objects that can be transformed. Kinematic transformations are particularly bad for “soft body” objects, because they cannot accurately simulate character deformation. For this reason, it is difficult for the character to bend and swell realistically when taking a pose. In addition, when kinematic transformations are applied to soft body objects, cracks and seams occur at the model surface character joints. Additional armature segments can be added to simulate surface bends and blisters and to smooth model surface joints, but creating such additional armature segments can be time consuming. The final pose setting character often requires extensive manual tweaking to make the bend and bulge look realistic.

  Instead of using kinematic transformations to animate soft body characters, a physical simulation approach can be used to animate soft body characters. In the physical simulation approach, the character model is processed by material physics simulation to create a soft body object that looks physically realistic. This approach is very time consuming to set up, and in many cases modelers need to define not only the character, such as the skin, but also the underlying muscles and skeleton. In addition, the process of processing a character model for each pose created by an animator requires a very large amount of computation, often a number to calculate the deformation of the character model, even for short animation sequences. It can take hours, sometimes even days.

  Because the animation process is time consuming, animators often use a simplified “stand-in” model to create a scene, and then the resulting animation is the final character model. I have to wait to see it. Since animators cannot see the final result of the animation immediately, it is very difficult and inefficient to fine-tune the character's expressive power. Using this technique, the animator is essentially groping and can only guess the final result.

  Animated characters also often collide or interact with other objects or characters in the scene. To make the collision look real, the animated character needs to be deformed around the collision object. Real character deformation as a response to a collision is essential in animating the collision, especially when the character is a soft body object. Conventional character pose setting techniques such as kinematic transformation cannot perform realistic deformation of the character model as a response to a collision. Instead, the animator must manually change the shape of the character model. Using physical simulation techniques, the character model can be transformed as a response to collisions, but as mentioned above, physical simulation techniques are very time consuming to set up and compute. Because the time requirements of physical simulation techniques are quite high, it is difficult to fine-tune the collision animation so that the animator conveys the appropriate dramatic impact.

  To animate a soft body character, 1) transform the soft body character into a realistic response in response to an armature pose, 2) make the animator easy to operate, and 3) the animator fine-tunes the animation efficiently. It would be desirable to have a method and system that can be evaluated quickly so that animators can preview the final appearance of the character model. It is also desirable for soft body characters to be realistically transformed from self-collisions or collisions with external objects.

  The method of animating a soft body character includes a first character preparation phase followed by a second character animation creation phase. In the character preparation phase, the skin deformation of the character model is determined for each set of base poses. In the character deformation phase, the skin deformation of the character model is further determined at a number of skin contact points as a response to the impact collision. In one embodiment of the present invention, skin deformation from pose determination called skin mode response and skin deformation from impact collision called skin impact response are expressed compactly with respect to this set of base poses.

  In the character animation creation phase, a final pose setting character is created using a set of base poses, skin mode response and skin impact response. Regardless of the desired character pose, the character animation creation phase uses the same set of base poses, skin mode response and skin impact response. Therefore, this set of base poses, skin mode response and skin impact response need only be determined once for the character model.

  In one embodiment, a method for animating a character model includes determining a base set from a set of character poses and determining a set of skin responses for the character model corresponding to the base set. The desired character pose is projected onto the basis set to determine the basis weight set. Basis weights are applied to the skin response set to create a skin pose response, and the skin pose response is projected onto the base set to create a pose-setting character model. In another embodiment, the steps of projecting the character pose, applying the set of basis weights, projecting the set of skin responses are repeated for the second desired character pose, and the second pose setting. A character model is created.

  In one embodiment, the set of character poses includes poses from a learning set. In other embodiments, the set of character poses includes randomly created poses. In yet another embodiment, an armature is used to define a set of character poses as well as a desired character pose. In other implementations, the animation variable defines at least a portion of the desired pose.

  In one embodiment, determining the skin response includes applying a set of displacements from poses in the base set to a portion of the character model and minimizing a function of the displacement across the character model. . In one embodiment, this function is an elastic energy function. In other embodiments, this function is minimized over a set of sample points associated with the character model.

  In one implementation of this method, the character pose is converted to a set of reference frames associated with the character model. For each reference frame, a skin pose response of the character model is created as a response to the character pose. In this embodiment, the composite skin response of the character model is constructed from the skin pose response of each reference frame.

  In another embodiment, a composite skin response is constructed by combining a portion of the skin response of the first reference frame with a portion of the skin response of the second reference frame. A portion of the skin response of the first reference frame and a portion of the skin response of the second reference frame may correspond to two at least partially overlapping regions of the character model. Alternatively, the portion of the skin response of the first reference frame and the portion of the skin response of the second reference frame correspond to two different regions of the character model.

  In another embodiment, a portion of the skin response of the first reference frame is assigned to the second reference frame according to a set of frame weights that define the effect of the skin response of the first and second reference frames on the composite skin response. Combine with part of skin response. In yet another embodiment, the set of frame weights is determined by diffusing an initial set of frame weight values through the character model.

  The present invention will be described with reference to the drawings.

  It should be noted that although the present invention is illustrated in two dimensions for purposes of clarity, the present invention is generally applicable to the operation of three-dimensional computer models.

  FIG. 1 is a diagram illustrating an embodiment of a computer system 100 upon which an embodiment of the invention may be implemented. The computer system 100 typically includes a monitor 110, a computer 120, a keyboard 130, a user input device 140, and a network interface 150. User input device 140 may include a computer mouse, track ball, track pad, graphics tablet, touch screen, and / or graphics, objects, icons, and / or text displayed on monitor 110 by the user. Provide other wired or wireless input devices that allow you to create or select. Embodiments of network interface 150 typically communicate with electronic communication networks such as local area networks, wide area networks, eg, the Internet, and / or virtual networks, eg, virtual private networks (VPNs). Implement wired or wireless communication.

  Computer 120 typically includes a component, such as one or more general purpose processors 160, a random storage memory (RAM) 170, a memory storage device, such as a disk drive 180, and a system bus 190 that interconnects the components. . RAM 170 and disk drive 180 are embodiments of tangible media for storing data, audio / video files, computer programs, applet interpreters or compilers, virtual machines, and are described herein. Some embodiments of the invention include geometric scene data, object data files, shader descriptors, rendering engines, output image files, texture maps, displacement maps. Other embodiments of the computer 120 may include dedicated audio and video subsystems for processing and outputting audio and graphics data. Other types of tangible media include floppy disks, removable hard disks, optical storage media such as DVD-ROM, CD-ROM, and barcode, non-volatile memory devices such as flash memory, read-only There are memory (ROMS), battery backup volatile memory, network attached storage devices.

  2A and 2B are diagrams illustrating an example armature used to set the pose of the example character and the example character. The character 205 is a soft body object three-dimensional computer model shown in two dimensions for easy understanding. Although the character 205 is shown in a human-like shape, the character 205 takes the form of various types of objects, including plants, animals, and inanimate objects with realistic and / or anthropomorphic attributes. sell. Character 205 can be any method used to create a 3D computer model, including 3D modeling software, procedural object creation, and manual composition within the 3D scan of physical objects. Can be created. Character 205 is a set of polygons, voxels, Bezier surfaces or higher-order surfaces such as non-uniform rational B-spline curves (NURBS), constructive solid geometry, and / or some other technique for representing 3D objects. Can be configured. In addition, the character 205 can include attributes that define the appearance of the object, including color, texture, material properties, transparency, reflectivity, lighting and shading attributes, displacement maps, and bump maps.

  Character 205 is animated through armature 210. Armature 210 includes one or more armature segments. The armature segments are either connected or disconnected as shown in FIG. 2A. The animator manipulates the position and orientation of the segments of the armature 210 to define the character's pose. The pose is a set of armature positions and orientations that define the posture of the character 205. The armature segment can be constrained with respect to size, position, or orientation, and can be manipulated freely on the animator side. The number of armature segments depends on the complexity of the character, and for a typical character, an armature may contain hundreds or thousands of segments. In some cases, the number and position of the armature segments are similar to those of the character's “skeleton”, but the armature segments are also not necessarily sensitive to subtle facial expressions, bones or other anatomical features. You can also define other character details that are not associated. Further, the armature segment in the armature 210 of FIG. 2A consists of a set of points, but in other embodiments of the invention, the armature segment can consist of a set of surfaces and / or a set of volumes. . The armature 210 is set with a pose by an animator, but the posture of the character 205 roughly reflects the posture of the armature 210.

  Character 205 is animated by creating a frame in which character 205 progressively moves from one pose to the other, that is, a sequence of still images. The character 205 can also be manipulated as a whole between frames by translation, rotation, scaling, or some other means. The animator can manually create a pose for the character for each frame in the sequence, or create poses for two or more key frames, which are then interpolated by the animation software, Create a pose. Poses can also be created automatically using functions, procedures, or algorithms. An animation variable can be used as a parameter to one or more functions that define a pose. The character 205 and its associated armature 210 are shown in a static pose, that is, the character's default posture. In one embodiment, the character's static pose is determined by the initial placement of the character model and armature.

  FIG. 2B illustrates the character 220 after being manipulated by the animator and placed in a pose. In this embodiment, the animator has moved the arm segment of armature 225. In response, the character 220 poses with its arms raised. More complex poses can be formed by manipulating additional armature segments.

  After creating the armature pose, the character is processed to reflect the armature's pose. In the present invention, the animation process is divided into two phases, thereby enabling the interactive frame rate and realistic pose setting of the soft body character.

  FIG. 3 is a block diagram 300 illustrating two phases of a method for animating a character according to an embodiment of the present invention. The first phase 305 is a character preparation phase. The character preparation phase requires a relatively large amount of computation and is performed prior to the animation. In the character preparation phase 305, a set of mode data for the character that defines the transformation of the character into various poses is created.

  After the time of the character preparation phase 305 is completed, the animator performs animation of the character in the character animation creation phase 310. In the character animation creation phase 310, the animator creates an animated sequence of characters by defining the armature pose of one character in one frame. The final pose character is created from the armature pose defined by the animator and the set of mode data already created in the character preparation phase 305. In one embodiment of the present invention, a final pose setting character can be created in real time from a collection of armature poses and mode data, and an animator can preview the results. Regardless of the desired character pose, in the character animation creation phase, the same set of mode data is used to create the final pose setting character. Therefore, the character preparation phase 305 needs to be executed only once for one character. The character animation phase 310 is repeated to create a final pose character for each armature pose in the animation sequence.

  FIG. 4 is a block diagram 400 of a character preparation phase for animating a character according to one embodiment of the invention. In step 405, a base is created from the set of sample armature positions. In this step, a set of sample armature positions is created for the armature associated with the character. In one embodiment, the set of sample armature positions includes poses from a learning set that defines the character's typical actions. For example, a set of sample armature positions can include armature poses associated with actions such as walking, running, grasping, jumping, climbing and the like. In other embodiments, the set of sample armature positions is created programmatically. Sample armature positions can be created procedurally by selecting one or more armature segments and manipulating those segments to a new position or orientation. For example, each armature segment is selected one after another and moved one unit in the specified dimension direction to create a sample armature position. In this embodiment, the total number of sample armature positions in the set is three times the number of armature segments. In other embodiments, the armature segments adjacent to the selected armature segment are also repositioned according to the elastic model when the respective sample armature position is created. In yet another embodiment, constraints on the armature segment are taken into account for the sample armature position. For example, an armature segment can limit the range of motion.

  Each sample armature position is described by a vector that defines the position of the armature segment. In one embodiment, this vector defines the position of the armature segment with respect to its position in the rest or initial position. The vectors for each sample armature position are combined to form a matrix containing a set of sample armature positions for the armature. Compute the singular value decomposition of this matrix to find the set of basis functions (or modes) for the armature. In other embodiments, other methods of calculating a set of basis functions such as canonical correlation can be used. A set of basis functions compactly defines a “pause space” in which a pose can be approximately represented as one or more weighted sums of a plurality of time basis functions. In other embodiments, if the resulting set of basis functions is not an orthonormal basis, then the set of basis functions is each basis function with a magnitude of 1 and is perpendicular to all other basis functions Is orthonormalized as follows.

  After creating a set of basis functions in step 405, a skin mode response is determined for each of the sample armature position basis functions in step 410. The skin mode response is the deformation of the character's surface as a response to moving the armature from its static pose to the sample armature position.

  FIG. 5 is a block diagram 500 illustrating a method for determining a character's skin mode response required in step 410 according to one embodiment of the invention. At step 505, the character model and its armature are discretized to create a set of sample points. In one embodiment, the character model is discretized into a three-dimensional grid. In this embodiment, the grid points in the character model or adjacent to the armature are a collection of sample points. In other embodiments, the character model is discretized into a set of tetrahedral cells. In this embodiment, a collection of tetrahedrons is fitted in the character model and around the armature. The vertex of the tetrahedron is a set of sample points. These embodiments are intended as embodiments, and various types of discretization can be used in step 505, such as a finite element finite volume method or a sphere sum discretization.

  In the application embodiment of step 505, FIG. 6A shows an associated armature 605 discretized with a character model 603 and a three-dimensional grid 607. The character model 603 and its armature 605 are in a rest position. Although shown in two dimensions, grid 607 is a three-dimensional grid. Furthermore, the density of the grid 607, ie, the number of grid cubes per unit volume, is shown in FIG. 6A for illustrative purposes only. Depending on the size and relative proportions of the character model 603, a typical grid is a bounding box centered around the character, approximately 120 cubes high, 50 cubes wide, and 70 cubes deep. Form. These dimensions vary depending on the height, width, and depth of the character model 603.

  In other embodiments, the density of the grid is different for different parts of the character 603, which can guarantee the accuracy of more complex parts of the character, such as the character's face and hands. The grid 607 not only surrounds the character model 603 but also fills the inside of the character model 603. In other embodiments, grid elements that are completely outside the character model 603 are discarded, but grid elements that are partially or completely inside the character model are skin mode response Held to determine. This relaxes the processing and memory requirements for determining the skin model response.

  FIG. 6B illustrates sample armature positions associated with the basis functions of exemplary armature 625 and its associated character model 623. In this embodiment, armature segments 627, 629 are placed in a new position. The displacement vectors 631 and 633 define the displacement of the armature segments 627 and 629 from the static pose, respectively. Contour 635 illustrates a portion of character model 623 that is affected by armature displacement relative to a stationary position into the sample armature position.

  In step 510, the displacement vector from the sample armature position is assigned to a sample point adjacent to the armature segment.

  In the application embodiment of step 510, FIG. 6C illustrates assignment of displacement vectors to sample points adjacent to the armature segment. FIG. 6C illustrates a portion 640 of the character model, its associated armature 642, and the surrounding grid 641. Armature segments 643, 645 are shown in a stationary pose. Armature displacement vectors 647 and 649 are associated with armature segments 643 and 645, respectively.

  Each sample point adjacent to the armature displacement vector 647 is assigned a displacement vector, indicated by a set of displacement vectors 651. The value of the displacement vector is calculated so that the weighted sum of the set of grid displacement vectors 651 is equal to the armature displacement vector 647. Similarly, the set of displacement vectors 653 is assigned to sample points adjacent to the armature displacement vector 649. A displacement vector is calculated for all sample points adjacent to any part of any armature segment. If the armature displacement vector is defined only for the end point of the armature segment, the armature displacement vector is interpolated along the length of the armature segment. The interpolated armature displacement vector is then used to create a set of displacement values for the sample points adjacent to each portion of the armature.

  In embodiments where the grid 641 is a 3D Cartesian grid, each armature displacement vector has eight adjacent displacement vectors. In other embodiments using tetrahedral discretization, each armature displacement vector has four adjacent displacement vectors.

  Note that the armature displacement vector and the displacement vector assigned to the sample points in FIG. 6C are not shown to scale. Furthermore, the magnitude of the displacement vector is assumed to be infinitesimal. As a result, the sample point does not actually move from its initial position due to the displacement vector. Instead, the assigned displacement vector represents the “virtual displacement” of its associated sample point.

At step 515, the skin mode response, which is the skin deformation of the character model, is calculated using the displacement vector assigned at step 510 as the initial input value. In one embodiment, the skin mode response is calculated by determining the value of the elastic energy function on all sample points inside the character body. One embodiment of the elastic energy function is shown below.

In this example of elastic energy function, q _xyz (x, y, z) is the displacement of the sample point from the rest position of (x, y, z). V is a parameter that represents the resistance of the model to volume change, and S is a parameter that represents the resistance to internal shear force. By changing the values of V and S, the deformation characteristics of the character can be changed. A very soft character, that is, a “gummy” character has a low V and S value, but a relatively stiff character has a large V and S value.

  The material behavior can generally be represented by a Hamiltonian dynamical system, and the Hamilton function can be used as an energy function in step 515. In other embodiments, the energy function is a response to changes in the character model as a whole, such as local terms that change the energy of the system as a response to local deformation as shown in the above embodiments, and global volume conservation terms. Including additional global terms that change the energy of the system.

Using the displacement values assigned to the sample points adjacent to the armature segment as the “seed” value for the set of sample points, a simultaneous equation is created that represents the elastic energy of the entire character model. This simultaneous equation is minimized over the set of sample points. The minimization of the elastic energy function can be performed by finding the value of q _xyz which is a position offset for each sample point using a numerical solver. In one embodiment, an elliptical numerical solver is used to minimize the energy function. In other embodiments, a conjugate gradient multigrid or Jacobi solver can be used. A skin mode is a set of position offsets adjacent to the model skin.

  In the application embodiment of step 515, FIG. 6D shows an embodiment of a portion of the skin mode response of the basis function character model. A portion 660 of the character model is shown in detail. The set of displacement vectors 663 describes the deformation of a portion of the character's skin. In this embodiment, the skin bulges outward about the character's “patella”. Similarly, the set of displacement vectors 665 describes the deformation of the part of the character's skin after the “knee”. In this embodiment, the skin wrinkles inward just behind the knee, but bulges outward just above and below the knee. Although omitted for clarity, displacement vectors are calculated for all sample points adjacent to the skin of the character model. In other embodiments, zero or very small values of grid displacement vectors that exhibit very small deformations at skin points from a given basis function are truncated.

  FIG. 6E illustrates the skin mode response of FIG. 6D configured on the model skin. This figure is presented to clarify the effect of the skin mode response of FIG. 6D on the appearance of the character model. As described below, in one embodiment of the present invention, the skin mode response is projected onto a set of basis functions to make the representation more compact. In the embodiment of FIG. 6B, a portion 680 of the character model is shown in detail. The skin 685 bulges outward and inward as a result of the displacement caused by the basis function. In this embodiment, the skin mode response presents an expression that realistically shows the deformation of the character's legs as the character's knee bends.

  Unlike traditional physical simulation techniques that require complex bone and muscle structures to be constructed under the character's skin to create a realistic “bulging” appearance, the present invention introduces them through armature basis functions. The realistic skin mode response is determined directly from the displacement. Also, unlike kinematic transformation techniques, multiple skin points need not be explicitly associated with one or more armature segments. Instead, realistic skin deformations automatically arise from the displacement of the underlying armature. This reduces the time and effort required to create the character model compared to conventional techniques.

  Also shown for comparison with the prior art is a character surface contour 690 that has been kinematically transformed by an armature pose. The kinematically transformed model skin looks firm and mechanical when compared to the skin mode response of embodiments of the present invention.

  In step 520, the process of determining the skin mode response is repeated for each basis function to create a corresponding set of skin mode responses for the set of basis functions. At step 525, the skin mode response is projected onto the set of basis functions to create a compact representation of the set of skin modes.

  In one embodiment of step 525, the position offset for the sample points adjacent to the armature segment is compared to the original value after each skin mode calculation. This is done because the deformed character model has a “push back” effect on the armature segment and another armature segment has the effect of pushing in on each other. If the sample points adjacent to the armature segment change, a new basis function is calculated from the modified set of sample points. The new basis function replaces the corresponding original basis function in the basis function set. The modified set of basis functions is orthonormalized, and then the skin mode is projected onto the modified orthonormalized set of basis functions for storage. After determining the skin mode response to the set of basis functions, unused position offsets, which are position offsets that are not adjacent to the skin of the character model, are discarded.

  After step 410 is complete and a set of skin modes for the set of armature basis functions is determined, a set of frame weights for the character model skin is determined at step 415. As described in detail below, a set of frame weights is used in the character animation creation phase to compensate for unwanted shear effects introduced by large rotations of a portion of the character model.

  FIG. 7 is a block diagram illustrating a method for weighting a character model with respect to a set of coordinate reference frames according to an embodiment of the present invention. In step 705, a set of coordinate reference frames is pasted onto the armature segment. The coordinate reference frame defines a local coordinate system for adjacent portions of the armature segment and the character model. In one embodiment, a coordinate reference frame is attached to each armature segment. In other embodiments, several armature segments can share the same coordinate reference frame. In one embodiment, the coordinate reference frame consists of four vectors, a first vector that defines the origin or placement of the coordinate reference frame and three vectors that define the coordinate axes of the coordinate reference frame.

  FIG. 8A illustrates pasting the coordinate reference frame on the exemplary armature as required in step 705. In FIG. 8A, armature 802 is associated with a number of coordinate reference frames, including coordinate reference frames 804, 806, 808. Each reference frame is affixed or positioned near the armature segment. In one embodiment, the coordinate reference frame is placed at the end of the armature segment, ie, at the joint. In other embodiments, the armature segment is placed anywhere along the armature segment.

  In the embodiment of FIG. 8A, the coordinate reference frame 804 is located near the center of the character armature's head. A coordinate reference frame 806 is placed at the shoulder joint of the armature 802. A coordinate reference frame 808 is placed at the knee joint of the armature 802.

  At step 710, the armature and character model are discretized to create a set of sample points. Similar to the discretization described above to determine the skin mode response, in one embodiment, a set of sample points is created from a three-dimensional grid. In another embodiment, a set of tetrahedral cells is used to discretize the character model and armature.

  At step 715, a set of initial frame weights is assigned to the sample points adjacent to each coordinate reference frame. The frame weight defines the influence of the coordinate reference frame on the sample point. As will be described later, each sample point is affected by more coordinate reference frames and thus has multiple frame weights. In step 715, sample points adjacent to the reference frame are initialized with a frame weight of 1. The frame weights of other sample points that are not adjacent to any of the reference frames are undefined at this stage.

  FIG. 8B illustrates an embodiment of a method for assigning initial frame weights in a portion of a character model embodiment. FIG. 8B shows a portion of the character model 810 and a portion of the set of sample points 812 created by the 3D grid. In this embodiment, coordinate reference frames 814, 816 are disposed on the armature segment. For each coordinate reference frame, a frame weight of 1 is assigned to adjacent sample points. For example, sample point 818 is assigned a frame weight of 1 with respect to coordinate reference frame 814 and sample point 820 is assigned a frame weight of 1 with respect to coordinate reference frame 816.

At step 720, the frame weight of surrounding sample points is determined from the initial frame weight. In one embodiment, a spatial spreading function is used to calculate frame weights for sample points. In this embodiment, the initial frame weight values are diffused outward from the initial sample points to the surrounding sample points. As the frame weight spreads to distant sample points, the frame weight value gradually decreases. Exemplary spatial spreading function is ∂w / ∂t = D∇ ² w.

In this embodiment, the function w _xyz (x, y, z) is the frame weight associated with the sample point for a given coordinate reference frame. D is a diffusion coefficient that defines the diffusion rate. In one embodiment, D is uniform in all directions. In other embodiments, the value of D varies depending on the diffusion direction. In this other embodiment, the variable diffusion coefficient is useful in defining abrupt transitions between reference frames at the armature joint. In other embodiments, the diffusion coefficient is selected to match the shear stress diffusion in the character model.

By using the initial frame weight as a seed value for a set of sample points, a simultaneous equation is created that represents the spread of the frame weight throughout the character model. This simultaneous equation is solved for a set of sample points and one or more frame weights w _xyz values are found for each sample point. When a sample point is affected by multiple coordinate reference frames, the sample point has a corresponding set of frame weights that define the degree of influence from each associated coordinate reference frame. The set of frame weights for each sample point is normalized so that the sum of the frame weights for the sample points is 1.

  In other embodiments of steps 715, 720, the optimal set of frame weights is determined using a fully nonlinear model that accounts for the rotation effect. In this embodiment, a non-linear solution of the skin model response of the character model is determined for each set of armature basis functions. Unlike the linear solution calculated in step 415, the nonlinear solution does not assume that the displacement vector is infinitesimal. The skin mode of each non-linear solution is compared with the corresponding linear skin mode response to the armature basis function as determined in step 415. From a comparison of the non-linear skin mode response and its corresponding linear skin mode response, an optimal set of frame weights is determined for each sample point.

  In other embodiments, at step 715, 720, for example, frame weights determined from a spatial spreading process or a non-linear model are manually adjusted to obtain optimal aesthetic results. For example, the frame weights of sample points placed near the joints of the character model can be fine-tuned so that the skin point deformations look beautiful.

  FIG. 8C shows an embodiment of a set of frame weights determined for a portion of the sample points adjacent to the model skin. FIG. 8C shows a portion of the character model 822. Coordinate reference frames 824, 826 are also shown. A portion of the set of frame weights determined for sample points adjacent to the model skin is highlighted with white circles in FIG. 8C. Each sample point has one or more frame weights. For example, sample point 828 has a frame weight of 0.9 for coordinate reference frame 826 and a frame weight of 0.1 for coordinate reference frame 824. Sample point 830 may have a frame weight of 0.1 for coordinate reference frame 826 and a frame weight of 0.9 for coordinate reference frame 824. Sample point 832 may have a frame weight of 0.0099 for coordinate reference frame 826 and a frame weight of 0.001 for coordinate reference frame 824.

  At step 725, the frame weights associated with the set of reference frames are stored for use in the character animation creation phase. This completes step 415 and the character preparation phase. After completing the character preparation phase, the character is ready for use by an animator in the character animation creation phase. In the character animation creation phase, a final pose setting character is created using a set of basis functions, a related set of skin modes, and a set of frame weights determined from the method 400.

  FIG. 9 illustrates a block diagram of a method 900 for animating a character in the character animation creation phase according to one embodiment of the invention. In step 905, the pose setting armature defines the desired final pose character's pose. As described above, the pose armature is manually created by the animator by interpolating between key frames or using procedurally one or more animation variables, functions, procedures, or algorithms. be able to. The pose armature is compared to the rest position armature, thereby determining a pose vector that defines the position and orientation differences between the pose position and rest position armature segments. In addition, the set of coordinate reference frames attached to the armature follows the associated armature segment from the rest position to the pause position. A set of vectors defining the position and orientation of the set of coordinate reference frames is also determined at step 905.

  At step 910, the pose vector is transformed into each of the coordinate spaces defined by the set of coordinate reference frames at the pose setting position. For each coordinate reference frame, the transformed pose vector is projected onto the armature basis function. By projecting a pose vector onto a set of basis functions, the pose vector is converted to a set of basis function weights. Basis function weights redefine the pose vector as a weighted sum of a set of basis functions. A set of basis function weights is created for each coordinate reference frame from the transformed pose vector.

  In step 915, the set of basis function weights determined in step 910 is applied to the skin mode within each coordinate reference frame. As described above, skin modes are already created during the character preparation phase for each of the basis functions. At step 915, the basis function weights associated with each coordinate reference frame are applied to the skin mode of the basis function. Each resulting set of skin modes is weighted by the associated basis function weights and summed to create a skin pose response. The skin pose response is a deformation of the character model as a response to the pose setting armature. Given that the set of basis functions forms the complete basis of the pose space, the skin pose response determines for possible character poses regardless of whether the desired pose was explicitly part of the original pose set. be able to.

  At step 915, another skin mode response is created for each of the coordinate reference frames. In other embodiments, step 920 skips the determination of the skin mode response in the reference frame for the portion of the character's skin where the frame weight is zero or negligibly small.

  As described above, the skin response is expressed in the form of a mode that takes the form of a spatial shape offset. In the character animation creation phase, a part of the model can be rotated away from the initial orientation. If the rotation is relatively large with respect to adjacent parts of the character model, undesirable shear effects can be introduced. To correct this shear effect, another skin pose response is determined for each coordinate reference frame.

  At step 920, the skin pose responses determined within each reference frame are combined to create a single composite skin pose response that does not include shear effects. At step 920, the set of skin pose responses is converted from an associated coordinate reference frame to a global reference frame. If the skin pose responses are all in the same coordinate system, the skin poses are summed based on the set of frame weights already determined in the character preparation phase. Each skin point is a weighted sum of a set of skin pose responses and corresponding frame weights associated with the skin point. In one embodiment, these skin responses are summed in a basal projection format. The result is a complex skin response.

  After step 920, the composite skin response is constructed from the base projection format and returned to the physical format. At step 925, the weighted sum of the composite skin response and basis function set forms the final pose character.

  The steps of method 900 are repeated for each character pose to generate an animated sequence. Since the skin mode response and skin impact response are pre-computed in the character preparation phase, the character animation creation phase can be performed in real time or near real time. Thereby, the animator can fine-tune the animation efficiently. In addition, the combined skin response of the character model transforms realistically as a response to the armature pose, so the animator does not wait for the final appearance of the animation to be confirmed, but the final character model in the animation process. Check the appearance.

  10A, 10B, 10C, and 10D are diagrams illustrating constructing a pose character model from an exemplary armature and character model embodiment according to one embodiment of the method described in FIG. FIG. 10A shows an example of a pose setting armature 1005. In this example, the pose setting armature 1005 defines the posture of the character in the running position. As described above, the pose armature 1005 is manually created by the animator by interpolating between key frames or using procedurally one or more animation variables, functions, procedures, or algorithms. can do.

  FIG. 10B illustrates an embodiment of a pose armature 1010 and an associated set of coordinate reference frames. In FIG. 10B, each coordinate reference frame is represented by a shaded rectangle. The position and orientation of each rectangle indicate the position and orientation of the associated coordinate reference frame at the pose setting position. The size of each rectangle represents an approximate portion of the character model that is affected by the associated coordinate reference frame.

  For example, coordinate reference frame 1015 is associated with the upper leg armature segment of pose armature 1010. The coordinate reference frame 1015 affects the position of the character model surrounding the upper leg armature segment. Similarly, the coordinate reference frame 1020 affects the position of the character model surrounding the upper arm armature segment of the pose character 1010. Although not shown in FIG. 10B, two or more reference frames may affect the same part of the character model.

  FIG. 10C shows two embodiments of the skin pose response determined for the coordinate reference frame. Skin pose response 1025 is associated with coordinate reference frame 1035. Skin pose response 1030 is associated with coordinate reference frame 1040. As described above, but not shown in FIG. 10C, a skin pose response is determined for each of the coordinate reference frames associated with the pose setting armature.

  Skin pose response 1025 shows the deformation of the character model as a response to the pose armature from the view of coordinate reference frame 1035. The portion of the skin pose response 1025 in the coordinate reference frame 1035 is correctly transformed as a response to the pose setting armature. However, other parts of the skin pose response 1025 outside the coordinate reference frame 1035 are greatly distorted due to the shearing effect. For example, in skin pose response 1025, the upper leg portion of the character model in coordinate reference frame 1035 is correctly deformed from the pose setting armature, but the character model arms 1042 and 1044 are distorted due to shear effects. .

  Similarly, skin pose response 1030 shows the deformation of the character model as a response to the pose armature from the view of coordinate reference frame 1040. The arm portion of the skin pose response 1030 in the coordinate reference frame 1040 is correctly deformed as a response to the pose setting armature. However, other parts of the skin pose response 1030 outside the coordinate reference frame 1040, such as the legs of the character model, are greatly distorted due to shear effects.

  As described above with respect to the method of FIG. 9, another skin pose response determined from each reference frame is combined into a composite skin pose response without shear effects using a set of frame weights.

  FIG. 10D illustrates a composite skin pose response 1050 created from another set of skin pose responses associated with different reference frames. For example, the leg portion 1060 of the composite skin pose response 1050 is created primarily from the skin pose response 1025 shown in FIG. 10C. Similarly, arm portion 1065 of composite skin pose response 1050 is created primarily from skin pose response 1030. The set of frame weights determines the contribution of each skin pose response to a given portion of the composite skin pose response. As described above, a skin point is associated with multiple coordinate reference frames through a corresponding number of frame weight values, so the composite skin pose response can include contributions from multiple skin pose responses.

  By using the above-described embodiment, an animator can create a pose setting character model having realistic swelling and bending in real time. In other embodiments of the invention, a character model or other soft object is transformed in real time as a response to a collision with another object in real time. A character's skin can be deformed by collisions with other characters or external objects such as rigid objects. The character's skin can also be deformed by self-collision, which is a collision between a part of the character model and another part of the character. Self-collision embodiments can occur when the character's arm bends at the elbow so that the upper or lower arms touch each other.

  Creating a realistic character model deformation as a response to a collision is a two-phase process, similar to that illustrated in FIG. The first phase is a collision preparation phase. The collision preparation phase requires a relatively large amount of computation and is performed prior to the animation. In the collision preparation phase, a set of skin impact responses is created that defines the deformation of the character for the set of test collisions. Each character skin impact response is a deformation of the character's surface as a response to a single collision at a single point. In one embodiment, the skin impact response defines the displacement of a point surrounding the collision point as a response to the collision.

  After completing the collision preparation phase, in the collision animation creation phase, the animator creates a collision by bringing the object into contact with the character. In one embodiment of the invention, the animator defines the placement of collision objects called character models and colliders in each frame of the animation sequence. The part of the character model that overlaps or contacts the collider is considered part of the collision. For each frame, the collision animation phase uses a set of skin impact responses to determine a skin collision response, which is a deformation of the character model as a response to a collider-character model collision.

  Regardless of the collider shape or the amount of collision between the character model and the collider, the collision animation phase uses the same set of skin impact responses to determine the collision skin response. Thus, the collision preparation phase only needs to be performed once for a character model, and the collision animation phase is repeated to create a skin collision response for each frame in the animation sequence.

  In the collision preparation phase, an embodiment of the present invention determines a set of skin impact responses to the character model. FIG. 11 is a block diagram 1100 illustrating a method for determining a skin impact response of a character according to one embodiment of the present invention. At step 1105, the character model is discretized and a set of sample points is created. In one embodiment, the character model is discretized into a three-dimensional grid. In other embodiments, the character model is discretized into a set of tetrahedral cells.

  At step 1110, a collision point is selected. The collision point can be any point on the surface of the character model, or in other embodiments a point inside the character model. For example, an internal collision point, which is a collision point in a character model, can be used to deform the character model's skin in response to a collision with an internal “muscle” object. However, the skin and muscle are actually often separated by a thin layer of fat. In order to approximate this anatomical feature, a “collision shield” can be created by selecting the inner point of the character model as the collision point.

  In step 1110, the set of displacements is applied to the collision point. Each displacement represents that the character model collides at a collision point in a different direction. In one embodiment, the displacement is applied to the collision point in each of the three Cartesian coordinate directions. In other embodiments, each displacement is a unit displacement in the appropriate direction. In a manner similar to that described in step 410, a displacement vector is assigned to a sample point adjacent to the collision point based on the displacement at the collision point.

In step 1115, the skin impact response is calculated for each displacement using the displacement value assigned in step 1110 as the initial input value. In one embodiment, the skin mode response is calculated by finding the value of the elastic energy function on all sample points inside the character body, which is similar to that used to find the skin mode response. It is a method. By minimizing the value of the elastic energy function over the entire discretization space, the value of q _xyz , ie the position offset, is calculated for each sample point. The skin impact response to a given skin displacement is a set of position offsets at sample points adjacent to the model skin.

  In step 1120, steps 1110 and 1115 are repeated for displacements applied to multiple collision points to create a set of skin impact responses. In one embodiment where the skin includes one or more surfaces defined by control points, each control point is selected as a collision point, and then a set of skin impact responses is created. In other embodiments, control points for relatively hard parts of the character model are excluded from the set of collision points.

  At step 1125, a set of basis functions is determined from the set of skin impact responses. In one embodiment, a singular value decomposition is used to compute a set of basis functions from the skin impact response. In other embodiments, other methods of calculating a set of basis functions such as canonical correlation can be used. In other embodiments, if the resulting set of basis functions is not an orthonormal basis, then the set of basis functions is each basis function with a magnitude of 1 and is perpendicular to all other basis functions Is orthonormalized as follows.

  Next, in step 1125, the impact response set is projected onto the basis function set to create a compact representation of the skin impact response set. In other embodiments, less important terms of the singular value decomposition are truncated to reduce the number of basis functions. For this reason, a smoothing effect occurs when the impact response set is projected onto the truncated basis set. In other embodiments, the set of skin responses is stored as a sparse set of vectors that define the displacement of the surrounding points as a response to the displacement of the collision point. Other embodiments represent skin impact responses that affect only a small number of points more efficiently than basis function representations.

  12A, 12B, 12C are diagrams illustrating the determination of the skin impact response of an exemplary character according to one embodiment of the present invention. FIG. 12A illustrates the displacement applied to the character model 1205. In this embodiment, the character model 1205 is discretized with a three-dimensional grid 1215. The displacement 1220 is applied to the collision point on the model skin 1210. A set of displacement values 1225 is assigned to sample points adjacent to the collision point.

  FIG. 12B illustrates a set of displacement vectors 1230 that are included as part of the skin impact response resulting from skin displacement 1235. The set of displacement vectors 1230 is provided for illustration, and the skin impact response can include a number of displacement vectors spread over all or part of the model skin. As can be seen from the size and orientation of the set of grid displacement vectors 1230, the model skin bulges inward near the collision point and bulges outward in the region around the collision point.

  FIG. 12C shows the skin impact response embodiment of FIG. 12B projected onto the model skin. This figure is presented to clarify the effect of the skin impact response of FIG. 12C on the appearance of the character model. As described above, in one embodiment of the present invention, the skin impact response is projected onto a set of basis functions to compact the representation. In the embodiment of FIG. 12C, the model skin 1260 bulges outward and inward as a result of the displacement caused by the skin impact response. In this embodiment, the skin impact response presents an expression that realistically shows the character deforming due to a collision with the object. For comparison, model skin 1250 is shown stationary.

  After determining the set of skin impact responses in the collision preparation phase, the deformation of the character skin is determined as a response to the collision defined by the animator in the collision animation creation phase. FIG. 13 is a block diagram illustrating a method 1300 for determining the collision response of a character model according to an embodiment of the present invention. The method 1300 is described below with reference to FIGS. 14A-14F, which illustrates the determination of a skin collision response from a collision embodiment according to one embodiment of the present invention.

  At step 1305, a set of collision points is identified. A collision point is a skin point that is in contact with or inside the collider. FIG. 14A illustrates a portion of model skin 1404 that is colliding with collider 1402. Model skin 1404 includes a number of skin points. Some of these skin points are inside the collider 1402. These skin points 1406, 1408, 1410, 1412 are a set of collision points in this collision embodiment. In other embodiments, a skin point that is neither inside nor touching the collider is selected as an additional collision point if it is near the collider surface or near the collider's inner collision point. The This provides a safety margin when the character skin deforms from the collision and the additional skin point contacts the collider.

  At step 130, a first collision point is selected and displaced to a potential stationary position, which is a first approximation of the final stationary position of the collision point. In one embodiment, the first collision point is selected randomly. In one embodiment, the potential rest position is the position on the collider surface closest to the first collision point. In other embodiments, the potential rest position is a position between the first collision point and the nearest collider surface point. In yet another embodiment, the magnification is used to determine the distance between the nearest collider surface point and a potential rest position.

  FIG. 14B shows an embodiment of a first collision point 1414 displaced from an initial position 1416 to a potential rest position. In this embodiment, the potential rest position is 80% of the distance between the initial position 1416 and the closest surface point of the collider 1418. In this embodiment, the scale factor is selected to optimize the performance of method 1300. It should be noted that although the first collision point 1414 is shown as being accurately displaced in the horizontal direction for clarity, the collision point can be moved in any direction to a potential rest position.

  At step 1315, the initial collision response is applied to other non-displacement collision points. The initial impact response is determined by projecting the displacement of the first impact point from the initial position to the potential rest position onto a set of basis functions already created from the set of impact responses. As for the basis function, a set of weights defining the displacement in the basis space is created by projecting the displacement on the set.

  The set of weights is then applied to the impact response associated with the first collision point. As a result, an initial collision response with respect to the first collision point is obtained. The initial collision response defines the displacement of the skin point around the first collision point as a response to the displacement of the first collision point from the initial position to the potential rest position.

  An initial collision response is applied to surrounding collision points, which are displaced to their initial positions. The initial impact response is only applied to the impact point, i.e. in contact with or within the collider, even though the skin impact response associated with the first impact point can define a displacement for the additional point. Note that it applies only to points.

  FIG. 14C illustrates applying the initial collision response embodiment to a set of ambient collision points. In this embodiment, the first collision point 1420 outlined for emphasis has been displaced from the initial position 1421 to a potential rest position so that the initial collision response is applied to the set of surrounding collision points. Is done. The initial collision response is the displacement applied to the surrounding collision points 1422, 1424, 1426 resulting from the displacement of the first collision point 1420. The initial collision response causes the collision points 1422, 1424, 1426 to be displaced from their initial positions to new potential rest positions as shown. As mentioned above, skin points outside the collider, i.e. non-collision skin points, are not displaced at this point in the collision animation creation phase.

  At step 1320, the set of ambient collision points is further displaced to respective potential rest positions. Similar to step 1310, each ambient collision point is moved from the position set in step 1315 to a potential rest position. In one embodiment, the position on the collider surface closest to each of the surrounding collision points is the respective potential rest position. In other embodiments, the potential rest position is the position between the collision point and the nearest collider surface point. In yet another embodiment, the magnification is used to determine the distance between the nearest collider surface point and a potential rest position. In one embodiment, the potential rest position of the ambient collision point is 80% of the distance between the ambient collision point, the new position determined in step 1315, and the collider's closest surface point.

  After the ambient collision points are displaced to their respective potential rest positions, at step 1325, a set of collision responses is determined for the set of ambient collision responses. Similar to step 1315, the displacement of each ambient collision point from the initial position to each potential rest position is projected onto a set of basis functions already created from the set of impact responses. Each displacement projection creates a set of basis weights associated with one of the surrounding collision points.

  The base weight of the surrounding collision point is applied to the corresponding impact response associated with the surrounding collision point to create a secondary collision response. This is repeated for each of the surrounding collision points, creating a set of secondary collision responses. Each secondary collision response defines the displacement of the skin point near the surrounding collision point as a response to the displacement of the surrounding collision point from the initial position to each potential rest position.

  A set of secondary collision responses is applied to all of the collision points, including the first collision point selected in step 1310, and these collision points are displaced from potential rest positions. Once again, the secondary collision response is applied only to the collision points and non-collision points are not removed at this step of the collision animation generation phase.

  After applying the secondary collision response to the set of collision points, each set of collision points has a new position. In step 1325, the displacement for each of the collision points from the initial position is determined, and a new set of collision responses is created in the same manner as described above. A new set of collision responses is applied and the set of collision points is further displaced. This process of creating a set of collision responses and applying the set of collision responses to the set of collision points is repeated until the set of collision points converges to the final set of displacements.

  FIG. 14D illustrates applying a set of secondary collision responses to the set of collision points. The set of collision points 1428, 1430, 1432, 1434 has a vector indicating the displacement from the potential rest position as a result of the set of secondary collision responses. Each vector represents the sum of displacements resulting from secondary collision responses at other collision points. For example, the displacement of the collision point 1428 is the sum of the secondary collision responses from the collision points 1430, 1432, and 1434.

  At step 1330, the final collision response is applied to the non-collision point. The final set of displacements determined in step 1325 is the displacement of each collision point from the initial position to the final position. Step 1330 projects each displacement from the final set of displacements onto a set of basis functions and creates a basis weight associated with each collision point. Each collision point basis weight is applied to its associated impact response to determine a set of displacements for non-collision points. In response to a collision, the displacements resulting from each collision point are added together to create a final collision response that defines the displacement of the non-collision point.

  FIG. 14E illustrates the determination of the final collision response for a non-collision point. Collision points 1436, 1438, 1440, 1442 outlined for emphasis were displaced from their initial positions outlined by dotted lines to their final positions. Based on the displacement of the set of collision points, the non-collision points 1444, 1446, 1448, 1450 are displaced from their initial positions as indicated by the respective vectors. Each vector represents the sum of displacements generated by a set of collision points 1436, 1438, 1440, and 1442.

  In one embodiment of the invention, all collision responses are determined and summed in the base space. This improves the efficiency of method 1300. In this embodiment, at step 1335, the final collision response is configured to be returned from the base projection form to the physical form. Skin deformation from a collision is determined from a final collision response and a weighted sum of a set of basis functions.

  In other embodiments, a sparse vector representing the impact response of the collision point is used to determine the final collision response. In other embodiments, the association between the collider and the collision point can be determined from the position of the stationary pose. This embodiment is useful when the skin response is not expected to move significantly as a response to a collision, eg, a skin (or internal collision shield) and muscle collision.

  FIG. 14F illustrates the final impact response configured on the model skin. In the embodiment of FIG. 14F, the skin 1452 bulges inward and around the collider 1454 as a result of the final collision response, presenting a deformation that appears realistic as a response to the collision. For comparison, a contour 1456 of the character surface before the first deformation is also shown.

  As described above, in the collision animation creation phase, only the collision point is displaced until the final collision response is determined. This greatly limits the number of points that need to be calculated when determining the collision response, thus allowing the collision animation creation phase to be performed in real time. For this reason, the animator can fine-tune the interaction between the character and the surroundings.

  In other embodiments of the present invention, the method of deforming a character model as a response to a pose setting armature can be combined with a method of deforming a character model as a response to a collision. In this combined embodiment, the character model deforms realistically as a response to the pose armature and the collision. In this embodiment, the animation process is divided into two phases: a combination preparation phase and a combination animation creation phase. As in the other embodiments, in this embodiment, the combination preparation phase is executed once for one character model. In the combination preparation phase, an armature basis set, a corresponding set of skin modes, and a set of frame weights are determined as described in method 400. Further, the combination preparation phase determines an impact base set associated with the set of skin impact responses, as described in method 1100.

  In the combined animation creation phase, an armor base set, skin mode set, frame weight set, skin impact response set, and impact base set are used to create a character model that is posed and deformed according to specifications from an animator To do. FIG. 15 illustrates a block diagram of a method 1500 for animating a character in a combined animation creation phase according to one embodiment of the invention. In step 1505, the pose setting armature defines the desired final pose setting character pose. As described above, the pose armature is created manually by the animator by interpolating between key frames or using procedurally one or more animation variables, functions, procedures, or algorithms. be able to. Further, since the set of coordinate reference frames attached to the armature follows the armature segment associated from the rest position to the pause position, a set of vectors defining the position and orientation of the set of coordinate reference frames is also determined in step 1505. Is done.

  At step 1510, a set of skin pose responses is determined for a set of coordinate reference frames. Each skin pose response is determined in a manner similar to that described in method 900. In general, a set of pose vectors and basis functions is transformed into a coordinate space defined by a coordinate reference frame at a pose setting position. The transformed pose vector is projected onto the transformed set of armature basis functions, creating a set of basis function weights there. Within each coordinate reference frame, a set of basis function weights is applied to the skin mode to determine the skin pose response of the coordinate reference frame. This is repeated for each coordinate reference frame to create a set of skin pose responses.

  At step 1515, a composite skin pose response is determined from the set of skin pose responses. Similar to the method 900 described above, the skin pose responses from each coordinate reference frame are combined according to the associated frame weights to correct unwanted shear effects. In general, a set of skin pose responses is converted from an associated coordinate reference frame to a global reference frame and summed according to a set of frame finds. The result of this step is a complex skin response.

  At step 1520, point constraints are identified. A point constraint is a point that is displaced from a collision between a character model and itself or an external object. An animator collides by positioning an object in contact with the character model within each frame, either manually or as a result of movement defined by a set of key frames or one or more animation variables Can be created. Point constraints may also arise when an animator pastes one point of a character model onto another object, or by manually placing a skin point at a new location. In one embodiment, step 1520 identifies potential collision points by defining a radius centered on each point on the skin of the character model. In other embodiments, a bounding box is used to identify potential collision points. At step 1520, a set of collision points to be used is identified, and a deformation of the character model is determined from the collision.

  At step 1525, the set of collision points is evaluated and the skin collision response is determined. In the embodiment of step 1525, the set of collision points is evaluated by the method 1300 described above. In general, the first displacement is determined for the first collision point. The first displacement is projected onto a set of impact basis functions and determines an initial impact response from the skin impact response. The initial collision response displaces the surrounding collision point. The displacement of the surrounding collision points is applied to each skin impact response, and further, the set of collision points is displaced. If the set of collision points is further displaced, then a collision response occurs, and this is repeated until the collision point converges to the final position. The final position of the set of collision points defines a skin collision response, which is then applied to the non-collision point set.

  At step 1530, a character model is constructed from the composite skin pose response and the skin collision response. In one embodiment, both the composite skin pose response and the skin collision response are stored and processed in a base projection format. In this embodiment, the weighted sum of the set of composite skin responses and armature basis functions is added to the weighted sum of the set of skin impact responses and impact basis functions. The result is a character model that is transformed as a response to an armature pose and collision.

  The steps of method 1500 are repeated for each frame to generate an animated sequence. Since the skin mode response and skin impact response are pre-calculated in the combination preparation phase, the combination animation creation phase can be performed in real time or near real time. This allows the animator to fine-tune the animation efficiently and maximize the dramatic impact of the animation. In addition, the combined skin response of the character model transforms realistically as a response to armature poses and collisions, so the animator does not wait for the final appearance of the animation to be seen, but in the animation process Check the final appearance.

  In addition, the present invention provides real-time performance directly from the pose armature without creating the underlying bone and muscle structures required by physical simulation techniques or by complex armature weighting used in kinematic transformation techniques. Determine the character transformation. This reduces the time and effort required to create the character model compared to conventional animation creation techniques.

  After a posed or deformed model is created using one or more of the above embodiments, rendering techniques such as ray tracing or scanline rendering, lighting, shading, texture mapping, etc. In combination with the image processing information, a final image or frame can be created from the model.

  Other embodiments may be envisioned by those skilled in the art after reading the accompanying documents. In other embodiments, combinations or subcombinations of the inventions disclosed above can be conveniently created. Architectural block diagrams and flowcharts are grouped together for ease of understanding. However, it should be understood that combinations of blocks, addition of new blocks, rearrangement of groups, etc. are contemplated in other embodiments of the invention.

  Accordingly, the specification and drawings are to be regarded as illustrative rather than restrictive. However, it will be apparent that various modifications and changes may be made thereto without departing from the broad spirit and scope of the invention as defined in the appended claims.

FIG. 6 illustrates a computer system embodiment in which an embodiment of the invention may be implemented. FIG. 6 illustrates an example armature used to set an example character and an example character pose. FIG. 3 shows an exemplary armature used. FIG. 2 is a block diagram illustrating two phases of a method for animating a character according to an embodiment of the present invention. FIG. 5 is a block diagram of a character preparation phase for animating a character according to an embodiment of the present invention. FIG. 6 is a block diagram illustrating a method for determining a skin mode response of a character according to an embodiment of the present invention. FIG. 6 is a diagram illustrating determination of an exemplary character's skin mode response in a pose embodiment according to an embodiment of the present invention. FIG. 6 is a diagram illustrating determination of an exemplary character's skin mode response in a pose embodiment according to an embodiment of the present invention. FIG. 6 is a diagram illustrating determination of an exemplary character's skin mode response in a pose embodiment according to an embodiment of the present invention. FIG. 6 is a diagram illustrating determination of an exemplary character's skin mode response in a pose embodiment according to an embodiment of the present invention. FIG. 6 is a diagram illustrating determination of an exemplary character's skin mode response in a pose embodiment according to an embodiment of the present invention. FIG. 6 is a block diagram illustrating a method for weighting a character model with respect to a set of coordinate reference frames according to an embodiment of the present invention. FIG. 6 is a diagram illustrating determination of a set of coordinate reference frame weights for a character model embodiment according to an embodiment of the present invention. FIG. 6 is a diagram illustrating determination of a set of coordinate reference frame weights for a character model embodiment according to an embodiment of the present invention. FIG. 6 is a diagram illustrating determination of a set of coordinate reference frame weights for a character model embodiment according to an embodiment of the present invention. It is a block diagram which shows the character animation phase which comprises a pose setting character model by one Embodiment of this invention. FIG. 4 illustrates constructing a pose character model from an exemplary armature and character model embodiment according to one embodiment of the present invention. FIG. 4 illustrates constructing a pose character model from an exemplary armature and character model embodiment according to one embodiment of the present invention. FIG. 4 illustrates constructing a pose character model from an exemplary armature and character model embodiment according to one embodiment of the present invention. FIG. 4 illustrates constructing a pose character model from an exemplary armature and character model embodiment according to one embodiment of the present invention. FIG. 6 is a block diagram illustrating a method for determining a skin impact response of a character model according to an embodiment of the present invention. FIG. 7 illustrates determination of skin impact response of a portion of a character model embodiment according to an embodiment of the present invention. FIG. 7 illustrates determination of skin impact response of a portion of a character model embodiment according to an embodiment of the present invention. FIG. 7 illustrates determination of skin impact response of a portion of a character model embodiment according to an embodiment of the present invention. FIG. 5 is a block diagram illustrating a method for determining a collision response of a character model according to an embodiment of the present invention. FIG. 6 illustrates determination of skin collision response of a portion of a character model according to one embodiment of the present invention. FIG. 6 illustrates determination of skin collision response of a portion of a character model according to one embodiment of the present invention. FIG. 6 illustrates determination of skin collision response of a portion of a character model according to one embodiment of the present invention. FIG. 6 illustrates determination of skin collision response of a portion of a character model according to one embodiment of the present invention. FIG. 6 illustrates determination of skin collision response of a portion of a character model according to one embodiment of the present invention. FIG. 6 illustrates determination of skin collision response of a portion of a character model according to one embodiment of the present invention. It is a block diagram which shows the character animation phase which comprises a pose setting character model by other embodiment of this invention.

Claims (21)

A method of deforming a character model in response to a collision,
Pre- determining a set of skin impact responses for a set of skin points of the character model, the set of skin points having a position that directly defines a polygonal surface representation of the character model; , each of the skin impulse response defines the displacement of at least a second skin point in response to displacement of the first skin points of the character model, the steps,
Selecting a first subset of the set of the skin points as a first set of skin impingement point to the first collision,
Determining a final collision response from the said first set of predetermined set and skin collision points of the skin impulse response,
Applying the final impact response to the set of skin points ; and
Rendering the surface defined by the set of skin points according to the final impact response to produce at least a portion of a rendered image ;
At least one of the predetermined set of skin impact responses is adapted to be used to determine a final impact response for two or more impacts;
Method.   The method of claim 1, wherein the set of skin collision points includes skin points arranged to contact a collision object.   The method of claim 2, wherein the set of skin collision points further includes skin points that are proximate to but not in contact with the collision object. Determining a set of skin impulse responses further,
A step of applying displacement to the skin point and the and across character model to minimize the function of the displacement method of claim 1 including the steps of determining the skin impulse response.   The method of claim 4, wherein the function is a material energy function. further,
A step of discretizing the character model to the three-dimensional field of sample points,
Claim 4 comprising the steps applying a set of displacement in a part of the sample points adjacent to the skin point and a step of the function to a minimum in all of the sample points associated with the character model The method described in 1.   The method of claim 6, wherein the field is a Cartesian coordinate grid.   The method of claim 6, wherein the field is a set of vertices of a tetrahedral volume element. further,
A step of configuring a basis set from the set of impulse responses,
The method of claim 1, wherein the set of impulse responses projected to the basis set, and a step of creating a compact representation of said set of impulse responses. The step of determining the final collision response is:
(A) a step of displacing a set of skin impingement point,
(B) Skin collision response for each skin point of impact from the displacement of the skin impact points, and a step of determining at least one skin impulse response, and (C) a set of said skin collision point is the final collision response Repeating the steps (A) and (B) until convergence.   The method of claim 10, wherein each of the sets of impact responses is a linear combination of the elements of a set of basis functions associated with the set of skin impact responses. Furthermore, the method according to claim 1 comprising the step of configuring said the final collision response, the character model which is deformed from a set of basis functions that are associated with the set of skin impulse response. A method of creating a pose setting character model,
And the step of converting the character pose to the set of the reference frame,
For each reference frame, creating a skin pose response of the character model in response to character pose,
A step from the skin pose response of each reference frame constituting the composite skin pose response of the character model,
Pre-determining a set of skin impact responses for a set of skin points of the character model, the set of skin points having a position that directly defines a polygonal surface representation of the character model; Each skin impact response defines the displacement of at least a second skin point as a response to the displacement of the first skin point of the character model;
Selecting a first subset of the set of the skin points as a first set of skin impingement point to the first collision,
Determining a collision response to a first collision from the predetermined set of skin collision points, wherein the collision response is responsive to displacement of at least a portion of the first set of skin collision points. Defining at least one displacement of a set of skin points not in the first set of points, the first set of skin collision points being displaced in response to the first collision;
A step of configuring a complete skin collision response for a set of said skin points from the collision response,
Combining the complete skin collision response and the composite skin pose response to create a pose-setting character model ; and
Rendering the surface defined by the set of skin points according to the final impact response to produce at least a portion of a rendered image ;
At least one of the predetermined set of skin impact responses is adapted to be used to determine a final impact response for two or more impacts;
Method. further,
And determining a set of skin response to character model, each skin response, one character basis set corresponding to a set of sample characters located in associated, comprising the steps,
Creating a skin pose response, determining a set of basis weight by projecting the character pose on the basis set, the reference frame by applying said set of basis weight to the set of skin response the method of claim 13 including the step of creating a skin pose response to. Determining a set of skin response, each base of the base set, and applying a set of from one of the displacement of said base set in a part of the character model, entire character model over comprises the step of minimizing a function of the displacement,
The method according to claim 14. further,
Comprises determining a set of frame weights that define the influence of the respective reference frames for each of the skin points of the character model to the set of reference frames associated with the character model,
Step of the composite skin pose response, depending on the set of frame weight, claims comprising the step of combining a portion of the skin response of the part and a second reference frame of said skin response of the first reference frame Item 14. The method according to Item 13. The method of claim 16 including the step of diffusing the initial set of frames weight value through said character model to determine a set of frame weight. Furthermore, the method comprising: determining a set of skin impulse responses for a set of skin points of the character model, each skin impulse response defines the deformation of the character model in response to a displacement of the skin points Including steps ,
Determining a collision response from the skin impingement point,
(A) a step of displacing a set of skin impingement point,
(B) converging the steps determining at least one skin impulse response with the skin collision response for each skin point of impact from the displacement of said skin collision point, and (C) a set of said skin collision point is the final collision response the method of claim 13 including the step of repeating until the (a) and (B) to. Determining a set of skin impulse responses further, for each of the skin points, and applying a displacement to the skin point, to minimize the function of the displacement throughout the character model to determine the skin impulse response The method of claim 18 comprising the steps of: Pre- determining a set of skin impact responses for a set of skin points of the character model, the set of skin points having a position that directly defines a polygonal surface representation of the character model; , each of the skin impulse response defines the displacement of at least a second skin point in response to displacement of the first skin points of the character model, the steps,
Selecting a first subset of the set of the skin points as a first set of skin impingement point to the first collision,
Determining a final collision response from the said first set of predetermined set and skin collision points of the skin impulse response,
Applying the final impact response to the set of skin points ; and
Rendering the surface defined by the set of skin points according to the final impact response to produce at least a portion of a rendered image;
An operation including
At least one of the predetermined set of skin impact responses is applied to be used to determine a final collision response for two or more collisions , a plurality of commands for instructing the information processing device to perform operations An information storage medium for storing instructions. And the step of converting the character pose to the set of the reference frame,
For each reference frame, creating a skin pose response of the character model in response to character pose,
A step from the skin pose response of each reference frame constituting the composite skin pose response of the character model,
Pre-determining a set of skin impact responses for a set of skin points of the character model, the set of skin points having a position that directly defines a polygonal surface representation of the character model; Each skin impact response defines the displacement of at least a second skin point as a response to the displacement of the first skin point of the character model;
Selecting a first subset of the set of the skin points as a first set of skin impingement point to the first collision,
Determining a collision response to a first collision from the predetermined set of skin collision points, wherein the collision response is responsive to displacement of at least a portion of the first set of skin collision points. Defining at least one displacement of a set of skin points not in the first set of points, the first set of skin collision points being displaced in response to the first collision;
A step of configuring a complete skin collision response for a set of said skin points from the collision response,
Combining the complete skin collision response and the composite skin pose response to create a pose-setting character model ; and
Rendering the surface defined by the set of skin points according to the final impact response to produce at least a portion of a rendered image;
An operation including
At least one of the predetermined set of skin impact responses is applied to be used to determine a final collision response for two or more collisions , a plurality of commands for instructing the information processing device to perform operations An information storage medium for storing instructions.

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