JP5420954B2 - GAME DEVICE AND GAME PROGRAM - Google Patents

Description

  The present invention relates to a game device and a game program, and more particularly to a game device and a game program that enable a more intuitive operation in a game device that plays a game by moving an input device.

  2. Description of the Related Art Conventionally, there are game devices that perform input by a player operating an input device having an acceleration sensor. For example, Patent Literature 1 discloses a game device that executes game processing in accordance with acceleration detected by a player shaking an input device. The game device described in Patent Literature 1 detects acceleration generated by a player's pitching motion, and reproduces the game character's pitching motion according to the detected acceleration. Specifically, when the player performs an action from the back swing to the forward swing to release the ball as in the actual bowling throwing action, the game character throws until the release according to the player's action. To reproduce. Next, when the player releases the button of the input device at the timing of releasing the bowling ball in the actual pitching operation, the game character releases the ball. Then, the game device calculates the trajectory and speed of the ball based on the acceleration detected until the ball is released, and moves the ball according to the calculation result.

JP 2008-67876 A

  However, in the game device described in Patent Document 1, it is necessary to operate the button of the input device at the timing of pitching, and the actual pitching operation may not always match. Therefore, it is insufficient in that the player plays the game with an intuitive operation.

  SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a game device and a game program capable of realizing a game based on a more intuitive operation in a game device that plays a game by moving an input device.

  The present invention employs the following configuration in order to solve the above problems. In addition, the reference numerals in parentheses and supplementary explanations in this column show the correspondence with the embodiments described later in order to help understanding of the present invention, and do not limit the present invention.

  The present invention acquires operation data including angular velocity data and acceleration data from an input device (8) including an angular velocity sensor (55, 56) and an acceleration sensor (37), and performs game processing based on the operation data. It is the game device which performs. The game apparatus includes determination means (CPU 10 that executes step S62; hereinafter, only the step number is described), movement control means (S64), and display control means (S5). The determination means determines whether or not the angular velocity data satisfies a predetermined condition (S71, S74, S75). The movement control means controls the movement of a predetermined object (ball) in the game space based on acceleration data acquired during a predetermined period determined with reference to the time point when the angular velocity data satisfies the predetermined condition. The display control means displays a predetermined object whose movement is controlled by the movement control means on the screen.

  Based on the above, it is possible to control the movement of the object based on the acceleration detected during the predetermined period determined according to the time point when the angular velocity data satisfies the predetermined condition. Thereby, the object in the game space can be operated according to the operation when the player operates the input device.

  The movement control means may control the moving speed of the object based on the acceleration data.

  Based on the above, it is possible to control the speed at which the object moves based on the acceleration data detected by the acceleration sensor. Thereby, the magnitude of the force applied by the player to the input device can be reflected in the moving speed of the object in the game space.

  Further, the movement control means may control the moving speed of the object by applying a force to the object based on the magnitude of the acceleration indicated by the acceleration data.

  Based on the above, the force applied to the object can be controlled based on the acceleration data detected by the acceleration sensor. Thereby, the magnitude of the force applied by the player to the input device can be reflected in the force applied to the object in the game space.

  The game device may further include position determining means (S41). The position determination unit determines the position of the object based on the angular velocity data for a period until the determination unit determines that the angular velocity data satisfies the predetermined condition. In this case, the movement control means starts moving the object in the predetermined direction from the position determined by the position determination means when the determination means determines that the angular velocity data satisfies the predetermined condition.

  According to the above, the position of the object can be moved based on the angular velocity data during a period until the angular velocity data is determined to satisfy the predetermined condition by the determining means. Accordingly, the operation of the input device until the predetermined condition is satisfied can be reflected in the game process.

  The game device may further include angular velocity storage means (main memory, S3). The angular velocity storage means sequentially stores angular velocity data. Based on the angular velocity data stored in the angular velocity storage means, the determining means indicates that the angular velocity data indicated by the angular velocity data has a maximum value and is greater than a predetermined threshold, and the angular velocity data satisfies the predetermined condition. It is determined that

  According to the above, it is possible to determine whether or not the predetermined condition is satisfied based on the angular velocity detected in the past. That is, by referring to the history of angular velocities, the temporal change in angular velocities can be obtained. And when the magnitude | size of angular velocity shows a maximum value, when the maximum value is larger than a predetermined threshold value, it can be determined that the angular velocity data satisfies the predetermined condition.

  The movement control means may further control the moving direction of the object based on the acceleration data (S70).

  Based on the above, the direction in which the object moves can be controlled based on the acceleration data detected by the acceleration sensor. Thereby, the moving direction of the object can be changed according to the acceleration applied to the input device.

  The game apparatus may further include acceleration storage means (main memory, S3). The acceleration storage means sequentially stores acceleration data. In this case, the movement control means sets the time when the determination means determines that the angular velocity data satisfies the predetermined condition as the determination time, and sets the predetermined length period before the determination time as the predetermined period. The movement control means controls the moving speed of the object based on the acceleration data stored in the acceleration storage means included in the predetermined period.

  Based on the above, it is possible to determine the moving speed of the object based on the acceleration detected during the predetermined period before the determination by the determination means. For example, the moving speed of the object can be determined according to the magnitude of acceleration detected in the past predetermined period from the time of determination by the determination means.

  Further, the movement control means may control the moving speed of the object based on a maximum acceleration magnitude among the acceleration data included in the predetermined period.

  According to the above, the maximum acceleration in the past predetermined period from the time of determination by the determination means can be reflected in the moving speed of the object. Thereby, the moving speed of the object can be controlled in accordance with the force applied by the player to the input device.

  Further, the movement control means may further control the movement speed of the object according to the attitude of the input device at the time of determination calculated based on the angular velocity data (S66).

  Based on the above, the moving speed of the object can be controlled in consideration of the attitude of the input device at the time of determination.

  Further, the movement control means may further change the moving speed of the object based on the acceleration data acquired after the determination (S82).

  According to the above, even after the determination by the determination means, the moving speed of the object can be additionally changed based on the acceleration acquired after the determination.

  In addition, when the magnitude of the acceleration indicated by the acceleration data acquired after the determination is larger than the maximum value of the acceleration during the predetermined period, the movement control means determines the acceleration indicated by the acceleration data acquired after the determination. The moving speed of the object may be further changed based on the size of.

  According to the above, even after the determination by the determination unit, when the acceleration acquired after the determination is larger than the acceleration acquired before the determination, the moving speed of the object can be changed according to the acceleration acquired after the determination. it can. Thereby, the force applied by the player to the input device can be more accurately reflected in the moving speed of the object.

  Further, the movement control means ejects an object in the game space in a predetermined direction when the angular velocity data satisfies the predetermined condition, and immediately after the injection based on acceleration data acquired at or before the injection of the object. The moving speed of the object may be determined. Then, the movement control means may correct the moving speed of the object immediately after the injection based on acceleration data newly acquired in a certain period immediately after the injection of the object.

  According to the above, the movement control means causes the object to be ejected based on the acceleration data at a timing when the angular velocity data satisfies the predetermined condition, and based on the acceleration data newly obtained after the ejection, the object after the ejection The moving speed of can be corrected. Accordingly, the object in the game space can be moved at a speed corresponding to the swing strength of the input device by the player.

  The present invention may also be implemented in the form of a game program that causes a computer of a game device to function as each of the above means.

  According to the present invention, when the angular velocity data of the input device satisfies a predetermined condition, the movement of the object can be controlled based on the acceleration of the input device. Accordingly, an object in the game space can be operated according to an operation when the player operates the input device, and an intuitive operation of the player with respect to the input device can be reflected in the game process as an operation on the object. .

External view of game system Functional block diagram of game device The perspective view which shows the external appearance structure of an input device Perspective view showing the external configuration of the controller Diagram showing the internal structure of the controller Diagram showing the internal structure of the controller Block diagram showing the configuration of the input device The figure which outlines the state when operating a game using the input device 8 The figure which showed a mode that a player hold | grips the input device 8 with the attitude | position of the motion before pitching A figure showing the player performing a backswing A figure showing the player swinging forward A diagram showing the moment when a player throws a ball The figure after the player throws the ball The figure which looked at the input device 8 from the rear in the state of the finish The figure which looked at the posture of input device 8 from the side to the pitching direction in the finish state The figure which looked at the posture of input device 8 when not performing straight correction in the finish state from the back in the pitching direction The figure which shows the main data memorize | stored in the main memory (the external main memory 12 or the internal main memory 11e) of the game device 3 Main flowchart showing a flow of game processing executed in the game apparatus 3 The flowchart which shows the detail of the pitching process (step S4) in FIG. The flowchart which shows the detail of the pitch attitude | position calculation process (step S11) before Yaw reset. Flow chart showing details of state process before pitching (step S12) The flowchart which shows the detail of the pitch attitude | position calculation process (step S15) after Yaw reset. Flow chart showing details of state process during pitching (step S17) The flowchart which showed the detail of the automatic pitching determination process (step S62) Flow chart showing details of post-throwing state processing (step S20) Flow chart showing details of power update process (step S82) Flowchart showing details of curve calculation processing (step S84) Flow chart showing details of straight correction process (step S87) The figure showing the attitude | position of the pitch direction calculated by step S31 Explanatory drawing for explaining the posture in the pitch direction and the posture in the yaw direction

[Overall configuration of game system]
A game system 1 including a game device according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is an external view of the game system 1. Hereinafter, the game apparatus and the game program of the present embodiment will be described using a stationary game apparatus as an example. In FIG. 1, the game system 1 includes a television receiver (hereinafter simply referred to as “TV”) 2, a game device 3, an optical disk 4, an input device 8, and a marker unit 6. In the present system, game processing is executed by the game device 3 based on a game operation using the input device 8.

  An optical disk 4 that is an example of an information storage medium that can be used interchangeably with the game apparatus 3 is detachably inserted into the game apparatus 3. The optical disc 4 stores a game program to be executed on the game apparatus 3. An insertion slot for the optical disk 4 is provided on the front surface of the game apparatus 3. The game apparatus 3 executes a game process by reading and executing a game program stored in the optical disc 4 inserted into the insertion slot.

  A television 2 which is an example of a display device is connected to the game apparatus 3 via a connection cord. The television 2 displays a game image obtained as a result of the game process executed in the game device 3. In addition, a marker unit 6 is installed around the screen of the television 2 (upper side of the screen in FIG. 1). The marker unit 6 includes two markers 6R and 6L at both ends thereof. The marker 6R (same for the marker 6L) is specifically one or more infrared LEDs, and outputs infrared light toward the front of the television 2. The marker unit 6 is connected to the game apparatus 3, and the game apparatus 3 can control lighting of each infrared LED included in the marker unit 6.

  The input device 8 gives operation data indicating the content of the operation performed on the own device to the game device 3. In the present embodiment, the input device 8 includes a controller 5 and a gyro sensor unit 7. Although details will be described later, the input device 8 has a configuration in which a gyro sensor unit 7 is detachably connected to the controller 5. The controller 5 and the game apparatus 3 are connected by wireless communication. In the present embodiment, for example, Bluetooth (registered trademark) technology is used for wireless communication between the controller 5 and the game apparatus 3. In other embodiments, the controller 5 and the game apparatus 3 may be connected by wire.

[Internal configuration of game device 3]
Next, the internal configuration of the game apparatus 3 will be described with reference to FIG. FIG. 2 is a block diagram showing a configuration of the game apparatus 3. The game apparatus 3 includes a CPU 10, a system LSI 11, an external main memory 12, a ROM / RTC 13, a disk drive 14, an AV-IC 15 and the like.

  The CPU 10 executes a game process by executing a game program stored on the optical disc 4, and functions as a game processor. The CPU 10 is connected to the system LSI 11. In addition to the CPU 10, an external main memory 12, a ROM / RTC 13, a disk drive 14, and an AV-IC 15 are connected to the system LSI 11. The system LSI 11 performs processing such as control of data transfer between components connected thereto, generation of an image to be displayed, and acquisition of data from an external device. The internal configuration of the system LSI will be described later. The volatile external main memory 12 stores a program such as a game program read from the optical disc 4 or a game program read from the flash memory 17, or stores various data. Used as a work area and buffer area. The ROM / RTC 13 includes a ROM (so-called boot ROM) in which a program for starting the game apparatus 3 is incorporated, and a clock circuit (RTC: Real Time Clock) that counts time. The disk drive 14 reads program data, texture data, and the like from the optical disk 4 and writes the read data to an internal main memory 11e or an external main memory 12 described later.

  Further, the system LSI 11 is provided with an input / output processor (I / O processor) 11a, a GPU (Graphics Processor Unit) 11b, a DSP (Digital Signal Processor) 11c, a VRAM 11d, and an internal main memory 11e. Although not shown, these components 11a to 11e are connected to each other by an internal bus.

  The GPU 11b forms part of a drawing unit and generates an image according to a graphics command (drawing command) from the CPU 10. The VRAM 11d stores data (data such as polygon data and texture data) necessary for the GPU 11b to execute the graphics command. When an image is generated, the GPU 11b creates image data using data stored in the VRAM 11d.

  The DSP 11c functions as an audio processor, and generates sound data using sound data and sound waveform (tone color) data stored in the internal main memory 11e and the external main memory 12.

  The image data and audio data generated as described above are read out by the AV-IC 15. The AV-IC 15 outputs the read image data to the television 2 via the AV connector 16, and outputs the read audio data to the speaker 2 a built in the television 2. As a result, an image is displayed on the television 2 and a sound is output from the speaker 2a.

  The input / output processor 11a performs transmission / reception of data to / from components connected to the input / output processor 11a and downloads data from an external device. The input / output processor 11 a is connected to the flash memory 17, the wireless communication module 18, the wireless controller module 19, the expansion connector 20, and the memory card connector 21. An antenna 22 is connected to the wireless communication module 18, and an antenna 23 is connected to the wireless controller module 19.

  The input / output processor 11a is connected to the network via the wireless communication module 18 and the antenna 22, and can communicate with other game devices and various servers connected to the network. The input / output processor 11a periodically accesses the flash memory 17 to detect the presence / absence of data that needs to be transmitted to the network. If there is such data, the input / output processor 11a communicates with the network via the wireless communication module 18 and the antenna 22. Send. The input / output processor 11a receives data transmitted from other game devices and data downloaded from the download server via the network, the antenna 22 and the wireless communication module 18, and receives the received data in the flash memory 17. Remember. By executing the game program, the CPU 10 reads out the data stored in the flash memory 17 and uses it in the game program. In the flash memory 17, in addition to data transmitted and received between the game apparatus 3 and other game apparatuses and various servers, save data (game result data or intermediate data) of a game played using the game apparatus 3 May be stored.

  Further, the input / output processor 11 a receives operation data transmitted from the controller 5 via the antenna 23 and the wireless controller module 19 and stores (temporarily stores) it in the buffer area of the internal main memory 11 e or the external main memory 12.

  Furthermore, an expansion connector 20 and a memory card connector 21 are connected to the input / output processor 11a. The expansion connector 20 is a connector for an interface such as USB or SCSI, and connects a medium such as an external storage medium, a peripheral device such as another controller, or a wired communication connector. By connecting, communication with the network can be performed instead of the wireless communication module 18. The memory card connector 21 is a connector for connecting an external storage medium such as a memory card. For example, the input / output processor 11a can access an external storage medium via the expansion connector 20 or the memory card connector 21 to store data in the external storage medium or read data from the external storage medium.

  The game apparatus 3 is provided with a power button 24, a reset button 25, and an eject button 26. The power button 24 and the reset button 25 are connected to the system LSI 11. When the power button 24 is turned on, power is supplied to each component of the game apparatus 3 via an AC adapter (not shown). When the reset button 25 is pressed, the system LSI 11 restarts the boot program for the game apparatus 3. The eject button 26 is connected to the disk drive 14. When the eject button 26 is pressed, the optical disk 4 is ejected from the disk drive 14.

[Configuration of Input Device 8]
Next, the input device 8 will be described with reference to FIGS. FIG. 3 is a perspective view showing an external configuration of the input device 8. FIG. 4 is a perspective view showing an external configuration of the controller 5. 3 is a perspective view of the controller 5 as seen from the upper rear side, and FIG. 4 is a perspective view of the controller 5 as seen from the lower front side.

  3 and 4, the controller 5 has a housing 31 formed by plastic molding, for example. The housing 31 has a substantially rectangular parallelepiped shape whose longitudinal direction is the front-rear direction (the Z-axis direction shown in FIG. 3), and is a size that can be gripped with one hand of an adult or a child as a whole. The player can perform a game operation by pressing a button provided on the controller 5 and moving the controller 5 itself to change its position and posture.

  The housing 31 is provided with a plurality of operation buttons. As shown in FIG. 3, a cross button 32a, a first button 32b, a second button 32c, an A button 32d, a minus button 32e, a home button 32f, a plus button 32g, and a power button 32h are provided on the upper surface of the housing 31. It is done. In the present specification, the upper surface of the housing 31 on which these buttons 32a to 32h are provided may be referred to as a “button surface”. On the other hand, as shown in FIG. 4, a recess is formed on the lower surface of the housing 31, and a B button 32i is provided on the rear inclined surface of the recess. A function corresponding to the game program executed by the game apparatus 3 is appropriately assigned to each of the operation buttons 32a to 32i. The power button 32h is for remotely turning on / off the main body of the game apparatus 3. The home button 32 f and the power button 32 h are embedded in the upper surface of the housing 31. This can prevent the player from pressing the home button 32f or the power button 32h by mistake.

  A connector 33 is provided on the rear surface of the housing 31. The connector 33 is used to connect another device (for example, the gyro sensor unit 7 or another controller) to the controller 5. Further, locking holes 33a are provided on both sides of the connector 33 on the rear surface of the housing 31 in order to prevent the other devices from being easily detached.

  A plurality (four in FIG. 3) of LEDs 34 a to 34 d are provided behind the upper surface of the housing 31. Here, the controller type (number) is assigned to the controller 5 to distinguish it from other main controllers. The LEDs 34a to 34d are used for the purpose of notifying the player of the controller type currently set in the controller 5 and notifying the player of the remaining battery level of the controller 5. Specifically, when a game operation is performed using the controller 5, any one of the plurality of LEDs 34a to 34d is turned on according to the controller type.

  Further, the controller 5 has an imaging information calculation unit 35 (FIG. 6), and a light incident surface 35a of the imaging information calculation unit 35 is provided on the front surface of the housing 31 as shown in FIG. The light incident surface 35a is made of a material that transmits at least infrared light from the markers 6R and 6L.

  Between the first button 32b and the home button 32f on the upper surface of the housing 31, a sound release hole 31a for releasing sound from the speaker 49 (FIG. 5) built in the controller 5 is formed.

  Next, the internal structure of the controller 5 will be described with reference to FIGS. 5 and 6 are diagrams showing the internal structure of the controller 5. FIG. FIG. 5 is a perspective view showing a state in which the upper housing (a part of the housing 31) of the controller 5 is removed. FIG. 6 is a perspective view showing a state in which the lower casing (a part of the housing 31) of the controller 5 is removed. The perspective view shown in FIG. 6 is a perspective view of the substrate 30 shown in FIG.

  In FIG. 5, a substrate 30 is fixed inside the housing 31, and operation buttons 32 a to 32 h, LEDs 34 a to 34 d, an acceleration sensor 37, an antenna 45, and a speaker 49 are provided on the upper main surface of the substrate 30. Etc. are provided. These are connected to a microcomputer (microcomputer) 42 (see FIG. 6) by wiring (not shown) formed on the substrate 30 and the like. In the present embodiment, the acceleration sensor 37 is disposed at a position shifted from the center of the controller 5 with respect to the X-axis direction. This makes it easier to calculate the movement of the controller 5 when the controller 5 is rotated about the Z axis. The acceleration sensor 37 is disposed in front of the center of the controller 5 in the longitudinal direction (Z-axis direction). Further, the controller 5 functions as a wireless controller by the wireless module 44 (FIG. 6) and the antenna 45.

  On the other hand, in FIG. 6, an imaging information calculation unit 35 is provided at the front edge on the lower main surface of the substrate 30. The imaging information calculation unit 35 includes an infrared filter 38, a lens 39, an imaging element 40, and an image processing circuit 41 in order from the front of the controller 5. These members 38 to 41 are respectively attached to the lower main surface of the substrate 30.

  Further, the microcomputer 42 and the vibrator 48 are provided on the lower main surface of the substrate 30. The vibrator 48 is, for example, a vibration motor or a solenoid, and is connected to the microcomputer 42 by wiring formed on the substrate 30 or the like. The controller 48 is vibrated by the operation of the vibrator 48 according to the instruction of the microcomputer 42. As a result, a so-called vibration-compatible game in which the vibration is transmitted to the hand of the player holding the controller 5 can be realized. In the present embodiment, the vibrator 48 is disposed slightly forward of the housing 31. That is, by arranging the vibrator 48 on the end side of the center of the controller 5, the entire controller 5 can be vibrated greatly by the vibration of the vibrator 48. The connector 33 is attached to the rear edge on the lower main surface of the substrate 30. 5 and 6, the controller 5 includes a crystal resonator that generates a basic clock of the microcomputer 42, an amplifier that outputs an audio signal to the speaker 49, and the like.

  The gyro sensor unit 7 includes gyro sensors (gyro sensors 55 and 56 shown in FIG. 7) that detect angular velocities around three axes. The gyro sensor unit 7 is detachably attached to the connector 33 of the controller 5. A plug (plug 53 shown in FIG. 7) that can be connected to the connector 33 is provided at the front end of the gyro sensor unit 7 (end on the Z-axis positive direction side shown in FIG. 3). Further, hooks (not shown) are provided on both sides of the plug 53. In a state where the gyro sensor unit 7 is attached to the controller 5, the plug 53 is connected to the connector 33 and the hook is locked in the locking hole 33 a of the controller 5. Thereby, the controller 5 and the gyro sensor unit 7 are firmly fixed. The gyro sensor unit 7 has a button 51 on a side surface (surface in the X-axis direction shown in FIG. 3). The button 51 is configured such that when the button 51 is pressed, the hook is released from the locked state with respect to the locking hole 33a. Therefore, the gyro sensor unit 7 can be detached from the controller 5 by removing the plug 53 from the connector 33 while pressing the button 51.

  A connector having the same shape as the connector 33 is provided at the rear end of the gyro sensor unit 7. Therefore, other devices that can be attached to the controller 5 (connector 33 thereof) can also be attached to the connector of the gyro sensor unit 7. In FIG. 3, a cover 52 is detachably attached to the connector.

  The shapes of the controller 5 and the gyro sensor unit 7 shown in FIGS. 3 to 6, the shapes of the operation buttons, the number of acceleration sensors and vibrators, and the installation positions are merely examples, and other shapes, numbers, And even if it is an installation position, this invention is realizable. In the present embodiment, the imaging direction by the imaging unit is the positive Z-axis direction, but the imaging direction may be any direction. That is, the position of the imaging information calculation unit 35 in the controller 5 (the light incident surface 35a of the imaging information calculation unit 35) does not have to be the front surface of the housing 31, and other surfaces can be used as long as light can be taken in from the outside of the housing 31. May be provided.

  FIG. 7 is a block diagram showing the configuration of the input device 8 (the controller 5 and the gyro sensor unit 7). The controller 5 includes an operation unit 32 (operation buttons 32 a to 32 i), a connector 33, an imaging information calculation unit 35, a communication unit 36, and an acceleration sensor 37. The controller 5 transmits data indicating the details of the operation performed on the own device to the game apparatus 3 as operation data.

  The operation unit 32 includes the operation buttons 32a to 32i described above, and the operation button data indicating the input state (whether or not each operation button 32a to 32i is pressed) to each operation button 32a to 32i is transmitted to the microcomputer of the communication unit 36. Output to 42.

  The imaging information calculation unit 35 is a system for analyzing the image data captured by the imaging unit, discriminating a region having a high luminance in the image data, and calculating a center of gravity position, a size, and the like of the region. Since the imaging information calculation unit 35 has a sampling period of, for example, about 200 frames / second at the maximum, it can track and analyze even a relatively fast movement of the controller 5.

  The imaging information calculation unit 35 includes an infrared filter 38, a lens 39, an imaging element 40, and an image processing circuit 41. The infrared filter 38 passes only infrared rays from the light incident from the front of the controller 5. The lens 39 collects the infrared light transmitted through the infrared filter 38 and makes it incident on the image sensor 40. The image sensor 40 is a solid-state image sensor such as a CMOS sensor or a CCD sensor, for example, and receives the infrared light collected by the lens 39 and outputs an image signal. Here, the markers 6 </ b> R and 6 </ b> L of the marker unit 6 disposed in the vicinity of the display screen of the television 2 are configured by infrared LEDs that output infrared light toward the front of the television 2. Therefore, by providing the infrared filter 38, the image sensor 40 receives only the infrared light that has passed through the infrared filter 38 and generates image data, so that the images of the markers 6R and 6L can be captured more accurately. Hereinafter, an image captured by the image sensor 40 is referred to as a captured image. Image data generated by the image sensor 40 is processed by the image processing circuit 41. The image processing circuit 41 calculates the position of the imaging target (markers 6R and 6L) in the captured image. The image processing circuit 41 outputs coordinates indicating the calculated position to the microcomputer 42 of the communication unit 36. The coordinate data is transmitted to the game apparatus 3 as operation data by the microcomputer 42. Hereinafter, the coordinates are referred to as “marker coordinates”. Since the marker coordinates change corresponding to the direction (tilt angle) and position of the controller 5 itself, the game apparatus 3 can calculate the direction and position of the controller 5 using the marker coordinates.

  In other embodiments, the controller 5 may not include the image processing circuit 41, and the captured image itself may be transmitted from the controller 5 to the game apparatus 3. At this time, the game apparatus 3 may have a circuit or a program having the same function as the image processing circuit 41, and may calculate the marker coordinates.

  The acceleration sensor 37 detects the acceleration (including gravity acceleration) of the controller 5, that is, detects the force (including gravity) applied to the controller 5. The acceleration sensor 37 detects the value of the acceleration (linear acceleration) in the linear direction along the sensing axis direction among the accelerations applied to the detection unit of the acceleration sensor 37. For example, in the case of a multi-axis acceleration sensor having two or more axes, the component acceleration along each axis is detected as the acceleration applied to the detection unit of the acceleration sensor. For example, the triaxial or biaxial acceleration sensor may be of the type available from Analog Devices, Inc. or ST Microelectronics NV. The acceleration sensor 37 is, for example, a capacitance type acceleration sensor, but other types of acceleration sensors may be used.

  In the present embodiment, the acceleration sensor 37 has a vertical direction (Y-axis direction shown in FIG. 3), a horizontal direction (X-axis direction shown in FIG. 3), and a front-back direction (Z-axis direction shown in FIG. 3) with reference to the controller 5. ) Linear acceleration is detected in each of the three axis directions. Since the acceleration sensor 37 detects acceleration in the linear direction along each axis, the output from the acceleration sensor 37 represents the linear acceleration value of each of the three axes. That is, the detected acceleration is represented as a three-dimensional vector (ax, ay, az) in an XYZ coordinate system (controller coordinate system (object coordinate system)) set with reference to the input device 8 (controller 5). . Hereinafter, a vector having the respective acceleration values related to the three axes detected by the acceleration sensor 37 as components is referred to as an acceleration vector.

  Data indicating the acceleration detected by the acceleration sensor 37 (acceleration data) is output to the communication unit 36. The acceleration detected by the acceleration sensor 37 changes in accordance with the direction (tilt angle) and movement of the controller 5 itself, so that the game apparatus 3 can calculate the direction and movement of the controller 5 using the acceleration data. it can. In the present embodiment, the game apparatus 3 determines the attitude of the controller 5 based on acceleration data and angular velocity data described later.

  Data (acceleration data) indicating the acceleration (acceleration vector) detected by the acceleration sensor 37 is output to the communication unit 36. In the present embodiment, the acceleration sensor 37 is used as a sensor that outputs data for determining the tilt angle of the controller 5.

  In addition, based on the acceleration signal output from the acceleration sensor 37, a computer such as a processor (for example, the CPU 10) of the game apparatus 3 or a processor (for example, the microcomputer 42) of the controller 5 performs processing, whereby further information regarding the controller 5 is obtained. Those skilled in the art will be able to easily understand from the description of the present specification that can be estimated or calculated (determined). For example, when processing on the computer side is executed on the assumption that the controller 5 on which the acceleration sensor 37 is mounted is stationary (that is, the processing is executed assuming that the acceleration detected by the acceleration sensor is only gravitational acceleration). When the controller 5 is actually stationary, it can be determined whether or not the attitude of the controller 5 is inclined with respect to the direction of gravity based on the detected acceleration. Specifically, whether or not the controller 5 is inclined with respect to the reference depending on whether or not 1G (gravity acceleration) is applied, based on the state in which the detection axis of the acceleration sensor 37 is directed vertically downward. It is possible to know how much it is inclined with respect to the reference according to its size. Further, in the case of the multi-axis acceleration sensor 37, it is possible to know in detail how much the controller 5 is inclined with respect to the direction of gravity by further processing the acceleration signal of each axis. . In this case, the processor may calculate the tilt angle of the controller 5 based on the output from the acceleration sensor 37, or may calculate the tilt direction of the controller 5 without calculating the tilt angle. Good. Thus, by using the acceleration sensor 37 in combination with the processor, the tilt angle or posture of the controller 5 can be determined.

  On the other hand, when it is assumed that the controller 5 is in a dynamic state (a state in which the controller 5 is moved), the acceleration sensor 37 detects an acceleration corresponding to the movement of the controller 5 in addition to the gravitational acceleration. Therefore, the movement direction of the controller 5 can be known by removing the gravitational acceleration component from the detected acceleration by a predetermined process. Even if it is assumed that the controller 5 is in a dynamic state, the direction of gravity is obtained by removing the acceleration component corresponding to the movement of the acceleration sensor from the detected acceleration by a predetermined process. It is possible to know the inclination of the controller 5 with respect to. In another embodiment, the acceleration sensor 37 is a built-in process for performing a predetermined process on the acceleration signal before outputting the acceleration signal detected by the built-in acceleration detection means to the microcomputer 42. An apparatus or other type of dedicated processing apparatus may be provided. A built-in or dedicated processing device converts the acceleration signal into a tilt angle (or other preferred parameter) if, for example, the acceleration sensor 37 is used to detect static acceleration (eg, gravitational acceleration). It may be a thing.

  The communication unit 36 includes a microcomputer 42, a memory 43, a wireless module 44, and an antenna 45. The microcomputer 42 controls the wireless module 44 that wirelessly transmits data acquired by the microcomputer 42 to the game apparatus 3 while using the memory 43 as a storage area when performing processing. The microcomputer 42 is connected to the connector 33. Data transmitted from the gyro sensor unit 7 is input to the microcomputer 42 via the connector 33. Hereinafter, the configuration of the gyro sensor unit 7 will be described.

  The gyro sensor unit 7 includes a plug 53, a microcomputer 54, a 2-axis gyro sensor 55, and a 1-axis gyro sensor 56. As described above, the gyro sensor unit 7 detects angular velocities around the three axes (in this embodiment, the XYZ axes), and transmits data (angular velocity data) indicating the detected angular velocities to the controller 5.

  The biaxial gyro sensor 55 detects an angular velocity around the X axis and an angular velocity (per unit time) around the Y axis. The single axis gyro sensor 56 detects an angular velocity (per unit time) around the Z axis. In this specification, the rotation directions around the Z axis, around the X axis, and around the Y axis are referred to as the roll direction, the pitch direction, and the yaw direction, respectively, based on the imaging direction (Z axis positive direction) of the controller 5. . That is, the biaxial gyro sensor 55 detects angular velocities in the pitch direction (rotation direction around the X axis) and the yaw direction (rotation direction around the Y axis), and the single axis gyro sensor 56 detects the roll direction (around the Z axis). Detect the angular velocity in the rotation direction.

  In this embodiment, the 2-axis gyro sensor 55 and the 1-axis gyro sensor 56 are used to detect the angular velocity around the three axes. However, in other embodiments, the angular velocity around the three axes is Any number and combination of gyro sensors may be used as long as they can be detected.

  In this embodiment, the three axes for detecting the angular velocities by the gyro sensors 55 and 56 are set so as to coincide with the three axes (XYZ axes) for detecting the acceleration by the acceleration sensor 37. However, in other embodiments, the three axes for detecting the angular velocity by the gyro sensors 55 and 56 and the three axes for detecting the acceleration by the acceleration sensor 37 do not have to coincide with each other.

  Data indicating the angular velocity detected by the gyro sensors 55 and 56 is output to the microcomputer 54. Accordingly, the microcomputer 54 receives data indicating the angular velocity around the three axes of the XYZ axes. The microcomputer 54 transmits data indicating the angular velocities around the three axes as angular velocity data to the controller 5 via the plug 53. Although transmission from the microcomputer 54 to the controller 5 is sequentially performed every predetermined cycle, since the game processing is generally performed in units of 1/60 seconds (one frame time), this time Transmission is preferably performed in the following cycle.

  Returning to the description of the controller 5, the data output from the operation unit 32, the imaging information calculation unit 35 and the acceleration sensor 37 to the microcomputer 42, and the data transmitted from the gyro sensor unit 7 to the microcomputer 42 are temporarily stored. Stored in the memory 43. These data are transmitted to the game apparatus 3 as the operation data. That is, the microcomputer 42 outputs the operation data stored in the memory 43 to the wireless module 44 when the transmission timing to the wireless controller module 19 of the game apparatus 3 arrives. The wireless module 44 modulates a carrier wave of a predetermined frequency with operation data using, for example, Bluetooth (registered trademark) technology, and radiates a weak radio signal from the antenna 45. That is, the operation data is modulated by the wireless module 44 into a weak radio signal and transmitted from the controller 5. The weak radio signal is received by the wireless controller module 19 on the game apparatus 3 side. By demodulating and decoding the received weak radio signal, the game apparatus 3 can acquire operation data. And CPU10 of the game device 3 performs a game process based on the acquired operation data and a game program. Note that the wireless transmission from the communication unit 36 to the wireless controller module 19 is sequentially performed at predetermined intervals, but the game processing is generally performed in units of 1/60 seconds (one frame time). Therefore, it is preferable to perform transmission at a period equal to or shorter than this time. The communication unit 36 of the controller 5 outputs each operation data to the wireless controller module 19 of the game apparatus 3 at a rate of once every 1/200 seconds, for example.

  By using the controller 5, the player can perform an operation of tilting the controller 5 to an arbitrary tilt angle in addition to the conventional general game operation of pressing each operation button. In addition, according to the controller 5, the player can also perform an operation of instructing an arbitrary position on the screen by the controller 5 and an operation of moving the controller 5 itself.

[Overview of game processing]
Next, an overview of game processing according to an embodiment of the present invention will be described with reference to FIGS. In the present embodiment, a bowling game is performed. FIG. 8 is a diagram outlining a state when a game operation is performed using the input device 8. FIG. 9 is a diagram illustrating a state where the player holds the input device 8 in the posture of the action before the pitching. FIG. 10 is a diagram illustrating a state where the player is performing a backswing. FIG. 11 is a diagram illustrating a state where the player is performing a forward swing. FIG. 12 is a diagram illustrating a situation in which a player throws a ball. FIG. 13 shows a state after the player has thrown the ball. As shown in FIG. 8, the player P holds the input device 8 and performs an operation of swinging the input device 8 as if to actually throw a bowling ball. In response to the movement of the player swinging the input device 8, the game device 3 displays on the television 2 a state in which the player character throws the bowling ball.

  First, the player P presses the B button 32i of the controller 5 (input device 8) from a state (address operation; FIG. 9) holding the input device 8 in a posture like a bowling address (motion before throwing). Then, an operation of shifting from the back swing (FIG. 10) to the forward swing (FIG. 11) is performed. In response to the action of the player P, the television 2 displays a state in which the player character starts the backswing action from the address action and shifts to the forward swing action. Next, after the player P shifts to the forward swing, the player swings the input device 8 so as to actually throw the bowling ball (release operation, FIG. 12). Normally, when a person actually throws a bowling ball, during the forward swing, the person releases the ball when it reaches near the lowest point (position closest to the lane). When a person releases a ball, he or she throws the ball with force applied. Also in this game, the player swings the input device 8 so as to throw the ball when the input device 8 reaches near the lowest point during the forward swing, as in the case of actually throwing a bowling ball. Perform (FIG. 12). In response to the pitching action of the player P, the game apparatus 3 determines that the ball has been pitched (automatic pitching determination), and displays a state in which the player character has pitched the ball on the television 2. Thereafter, the player P finishes the pitching operation (finish, FIG. 13). Thus, the bowling pitching operation can be divided into address, back swing, forward swing, release, and finish operations.

  Here, the speed and trajectory of the pitched ball are determined according to the force and direction applied to the input device 8 during the pitching operation by the player (that is, the speed and direction of swinging the controller 5). In addition, the force applied to the controller 5 after the pitch determination and its direction also affect the speed and trajectory of the pitched ball.

  Specifically, the game apparatus 3 detects that the posture of the input apparatus 8 has been changed using the angular velocities detected by the two-axis gyro sensor 55 and the one-axis gyro sensor 56, thereby indicating that the transition from the back swing to the forward swing has occurred. To detect. In other words, the game apparatus 3 integrates the angular velocities around the respective axes that are sequentially output from the 2-axis gyro sensor 55 and the 1-axis gyro sensor 56, and calculates the amount of change in posture from the initial state from the integration result. The attitude of the input device 8 is calculated. Then, based on the calculated change in the attitude of the input device 8, the game device 3 recognizes that the player has shifted from the back swing to the forward swing.

  Here, the attitude of the input device 8 is an attitude in the xyz coordinate system based on a predetermined position in a space where the input device 8 exists. Here, as shown in FIG. 1, the xyz coordinate system assumes that the input device 8 is located in front of the marker unit 6, and the direction from the position of the input device 8 toward the marker unit 6 is the positive z-axis direction. Suppose that the coordinate system is such that the vertically upward direction (reverse direction of the gravity direction) is the y-axis positive direction and the left direction when facing the marker unit 6 from the position of the input device 8 is the x-axis positive direction. Here, an attitude in which the X axis, the Y axis, and the Z axis with respect to the input device 8 coincide with the directions of the x axis, the y axis, and the z axis will be referred to as a reference attitude. The posture of the input device 8 is that when the input device 8 is rotated in the roll direction (around the Z axis), the pitch direction (around the X axis), and the yaw direction (around the Y axis) from the reference posture with the Z axis direction as a reference. It is an attitude in the xyz coordinate system. The posture is expressed by a rotation matrix M described later.

  Next, the game apparatus 3 performs automatic ball pitching determination using the angular velocity detected by the two-axis gyro sensor 55 during the forward swing. Specifically, the game apparatus 3 uses the angular velocity vector around the X axis and the angular velocity around the Y axis detected by the two-axis gyro sensor 55 as components, and the magnitude of the angular velocity vector (the magnitude of this angular velocity vector is It is determined that the ball has been thrown when the input device 8 changes according to the swing speed of the input device 8) exceeds a predetermined threshold. More precisely, as will be described later, when the magnitude of the angular velocity vector exceeds a predetermined threshold and becomes a maximum, it is determined that the ball has been thrown. That is, the game device 3 determines that the ball has been thrown when the player swings the input device 8 around the X axis and the Y axis at a predetermined speed or higher.

  Next, the game apparatus 3 determines the speed of the pitched ball based on the acceleration detected by the acceleration sensor 37 during a predetermined period determined based on the time when the automatic pitching determination is made. That is, the game apparatus 3 determines the speed of the ball according to the magnitude of acceleration detected by the acceleration sensor 37 during a predetermined period before the automatic pitching determination. Furthermore, the game apparatus 3 changes the speed of the ball according to the magnitude of the acceleration detected by the acceleration sensor 37 during a predetermined period after the automatic pitching determination. In this way, by changing the speed of the ball according to the acceleration value after the automatic pitching determination is made, the player's swing motion can be more accurately reflected in the game process. That is, in the above-described automatic pitching determination, it is determined that the ball has been thrown when the swing speed of the input device 8 is equal to or higher than a predetermined value. Therefore, when the player swings the input device 8 faster, the player's intention It may be determined that the ball has been thrown during the forward swing before the release timing. That is, in the automatic pitching determination, it is difficult to accurately know the release timing intended by the player, so it may be determined that the ball has been thrown before the release timing. In such a case, it is considered that the swing speed of the input device 8 is maximized after the automatic pitching determination. When the ball rolling speed is determined according to the acceleration detected only before the automatic pitching determination, the ball rolling speed even when the player swings the input device 8 faster with the intention of rolling the ball faster. Does not exceed a predetermined value (the speed of the ball according to the threshold value for automatic pitching determination). Therefore, by correcting the speed of the ball according to the magnitude of the acceleration detected in the predetermined period after the automatic pitching determination, the player's swing motion can be more accurately reflected in the speed of the ball rolling in the game space. it can.

  In addition, the game apparatus 3 determines whether or not the ball is based on the integrated value of the acceleration detected by the acceleration sensor 37 and the integrated angular velocity around the Z axis detected by the uniaxial gyro sensor 56 during a predetermined period before and after the automatic pitching determination. A rotation amount and a rotation direction are determined, and the ball is curved (changes the trajectory) based on the determined rotation amount and rotation direction. In other words, the ball is curved according to the action of the player twisting the input device 8. In the above-mentioned automatic pitch determination, it is difficult to accurately know the release timing intended by the player. Therefore, based on the acceleration detected before and after the automatic pitch determination and the angular velocity, the rotation of the ball (the amount of rotation) And the direction of rotation). Thereby, the rotation that the player intends to add to the ball can be more accurately reflected in the rotation of the ball in the game space. In this way, the actual swinging and twisting motion of the input device 8 by the player before and after the automatic pitching determination is reflected in the amount and direction of rotation of the ball in the game space.

  Furthermore, after the automatic pitching determination, the game apparatus 3 corrects the ball trajectory when the posture of the input device 8 when the player finishes swinging the input device 8 is a predetermined posture. Specifically, in a finish state after the player swings the input device 8, if the posture of the input device 8 is not rotating in the roll direction (around the Z axis), the player has assumed a straight pitch Perform straight correction. Straight correction is to straighten the direction in which the ball rolls. For example, the game apparatus 3 corrects the direction in which the ball rolls straight by correcting the direction of rotation of the ball toward the pin or suppressing the amount of rotation. FIG. 14 is a view of the input device 8 as seen from the rear surface in the finished state. In FIG. 14, the direction of the Z-axis is from the front to the back of the page. As shown in FIG. 14, in the finish state, when the input device 8 is rotated by a predetermined angle or more around the Z axis, the game device 3 determines that the player has rotated the ball and performs the straight correction. Do not do.

  However, in the finish state, even if the input device 8 does not rotate more than a predetermined angle around the Z axis, the upper surface of the input device 8 faces the ground, and the positive direction of the Z axis is directly behind the player. If it is not facing the direction, the game apparatus 3 does not perform straight correction. FIG. 15A is a view of the posture of the input device 8 as viewed from the side with respect to the pitching direction in the finished state. FIG. 15B is a view of the posture of the input device 8 when the straight correction is not performed in the finish state as seen from the back with respect to the pitching direction. As shown in FIGS. 15A and 15B, when the player has finished swinging the input device 8, the upper surface of the input device 8 is directed toward the ground (that is, from the position of the input device 8 in the positive direction of the Y axis). When the half-line extending infinitely intersects the ground) and the Z-axis is inclined in the positive direction (left side of FIG. 15B) or negative direction (right side of FIG. 15B) of the x-axis in the xyz coordinate system, the game apparatus 3 Does not perform straight correction on the assumption that the player has rotated the ball.

  The reason for determining whether or not to perform straight correction according to the attitude of the input device 8 in the finish state as described above will be described below. That is, when the player throws a straight ball, it is considered that the player performs a backswing from behind with the palm facing upward without twisting the wrist and performs a forward swing without twisting the wrist. Then, after releasing the ball, the player finishes the ball throwing motion so that the palm faces in the pitching direction (or the direction opposite to the pitching direction when making a large swing) without twisting the wrist (in the finish state). It is considered to be. That is, when the player throws a straight ball, it is considered that the player swings his arm straight in the pitching direction during and after the pitching. On the other hand, when the player tries to rotate the ball, it is considered that the player tries to throw the ball by twisting, so that the wrist is twisted in the finish state. In this case, the input device 8 is rotated around the Z axis. Therefore, by detecting the rotation of the input device 8 around the Z-axis in the finish state, it is possible to determine whether the player has tried to curve the ball or to throw a straight ball.

  When the arm trajectory when the input device 8 is swung is not straight with respect to the pitching direction, the input device 8 is in the positive or negative direction of the x axis in the finish state, as shown in FIG. 15B. It seems that it is inclined to. The arrow p indicating the trajectory of the arm shown in FIG. 15B is when the player's arm moves from the back (the state at the moment of transition from the back swing to the forward swing) to the front (the finish state) when viewed from above. The arm trajectory is shown. As described above, when the arm trajectory p is not straight with respect to the pitching direction, it is considered that the player tried to rotate the ball. When the player does not swing the input device 8 straight with respect to the pitching direction, the input device 8 in the finished state is inclined to some extent with respect to the y-axis direction (the direction opposite to the gravity direction) as shown in FIG. 15B. it is conceivable that.

  As described above, it is possible to determine whether or not the player has attempted to rotate the ball from the attitude of the input device 8 in the finished state. Therefore, by determining whether or not to perform straight correction based on the attitude of the input device 8 in the finish state, the ball can be thrown as intended by the player.

[Details of game processing]
Next, details of processing executed in the game apparatus 3 will be described with reference to FIGS. First, main data used in the processing in the game apparatus 3 will be described with reference to FIG. FIG. 16 is a diagram showing main data stored in the main memory (the external main memory 12 or the internal main memory 11e) of the game apparatus 3. As shown in FIG. 16, a game program 61, operation data 62, and game processing data 66 are stored in the main memory of the game apparatus 3. In addition to the data shown in FIG. 16, the main memory stores game data such as image data of various objects appearing in the game, data indicating various parameters of the objects, and data indicating input states of the operation buttons 32a to 32i. Necessary data is stored.

  A part or all of the game program 61 is read from the optical disc 4 and stored in the program area of the main memory at an appropriate timing after the game apparatus 3 is powered on.

  The operation data 62 is operation data transmitted from the controller 5 to the game apparatus 3. As described above, since the operation data is transmitted from the controller 5 to the game apparatus 3 at a rate of once every 1/200 seconds, the operation data 62 stored in the main memory is updated at this rate. Here, in this embodiment, the operation data transmitted once every 1/200 second is taken as one sample, and in addition to the latest (last transmitted) operation data, it is transmitted to the main memory in the past. A predetermined number of operation data is stored.

  The operation data 62 includes angular velocity data 63, acceleration data 64, and marker coordinate data 65. Also included is data indicating whether or not each button has been pressed. The angular velocity data 63 is a set of data indicating the angular velocity detected by the gyro sensors 55 and 56 of the gyro sensor unit 7. That is, the angular velocity data 63 is an angular velocity around each axis in the XYZ coordinate system shown in FIG. 3, and is a set of angular velocities around each axis detected at present and in the past. The acceleration data 64 is a set of data indicating the acceleration (acceleration vector) detected by the acceleration sensor 37 at the present time and in the past.

  The marker coordinate data 65 is data indicating coordinates calculated by the image processing circuit 41 of the imaging information calculation unit 35, that is, the marker coordinates. The marker coordinates are expressed in a two-dimensional coordinate system for representing a position on a plane corresponding to the captured image.

  The game process data 66 is data used in a game process (FIG. 17) described later. The game processing data 66 includes rotation matrix data 67, roll component rotation data 68, pitch component rotation data 69, yaw component rotation data 70, pitch posture data 71, and yaw posture data 72.

  The rotation matrix data 67 is data representing the rotation from the reference posture (the posture when the XYZ axes described above coincide with the xyz axis) to the current posture of the input device 8 (controller 5). Represented by M. As will be described in detail later, the rotation matrix M is also obtained by arranging the unit vectors indicating the XYZ axis directions of the input device 8 in a coordinate system in the xyz space. Like the operation data 62, the rotation matrix data 67 is a set of data indicating the rotation matrix M of a predetermined sample in addition to the latest rotation matrix M. The rotation matrix M is represented by a 3 × 3 matrix shown in the following formula (1).

  The roll component rotation data 68 is data representing the rotation of the input device 8 around the Z axis, and is represented by a roll component rotation matrix Mr. The pitch component rotation data 69 is data representing the rotation of the input device 8 around the X axis, and is represented by a pitch component rotation matrix Mp. Further, the yaw component rotation data 70 is data representing the rotation of the input device 8 around the Y axis, and is represented by a yaw component rotation matrix My. The roll component rotation matrix Mr, the pitch component rotation matrix Mp, and the yaw component rotation matrix My are each represented by a 3 × 3 matrix shown in the following equations (2) to (4).

  Here, the rotation angles in the roll direction (around the Z axis), the pitch direction (around the X axis), and the yaw direction (around the Y axis) were θr, θp, and θy, respectively. The angles θr, θp, and θy are obtained based on the angular velocity data 63. That is, the angle θr is a rotation angle around the Z axis from the reference posture, and the rotation angle is obtained by calculating the integral of the angular velocity around the Z axis as described above. Similarly, the angles θp and θy are obtained by calculating the integrals of the angular velocities around the X axis and the Y axis, respectively. Since the output of the gyro sensor may generally include an error due to drift or the like, the attitude can be corrected based on the acceleration data 64 as well as integrating the angular velocity. Specifically, when the input device 8 is stationary or moving at a constant speed, the acceleration indicated by the acceleration data 64 is gravity, so the orientation of the input device 8 is calculated from that direction, Correction is performed so that the posture calculated by the angular velocity is close to the posture calculated from the acceleration. At that time, if the degree of correction is made higher as the magnitude of acceleration is closer to the magnitude of gravity, the attitude when the attitude cannot be calculated from the acceleration, such as when moving, will not be reflected much. it can. Further, correction can be performed based on the marker coordinate data 65. That is, the orientation of the input device in the roll direction can be calculated from the direction connecting the two marker coordinates, and the marker coordinate position can be associated with the orientation in the yaw and / or pitch direction. It is possible to perform correction by bringing the posture calculated by the angular velocity and the posture corrected by the acceleration closer to the posture calculated based on the marker coordinates at a predetermined ratio.

  The rotation matrix M is a product of rotation matrices representing rotations in the roll direction, pitch direction, and yaw direction with respect to the Z axis. That is, the rotation matrix M is a product of the rotation matrices of the respective components represented by the above formulas (2) to (4). In the present embodiment, it is assumed that the rotation matrix M (rotation matrix data 67) is calculated and stored in the main memory at a timing at which the angular velocity data 63 is updated (at a rate of once every 1/200 second).

  The pitch attitude data 71 is a set of data indicating the attitude in the pitch direction in the xyz coordinate system of the input device 8, and the attitude in the pitch direction is obtained from the rotation matrix M. Here, the attitude in the pitch direction in the xyz coordinate system is the rotation around the x axis as viewed from the space fixed coordinate system (xyz coordinate system) after the input device 8 is rotated in the object coordinate system (XYZ coordinate system). It is a posture to represent.

  The yaw attitude data 72 is a set of data indicating the attitude in the yaw direction in the xyz coordinate system of the input device 8, and the attitude in the yaw direction is obtained from the rotation matrix M. Here, the orientation in the yaw direction in the xyz coordinate system refers to the rotation around the y axis as viewed from the space fixed coordinate system (xyz coordinate system) after the input device 8 is rotated in the object coordinate system (XYZ coordinate system). It is a posture to represent.

  FIG. 17 is a main flowchart showing a flow of game processing executed in the game apparatus 3. When the power of the game apparatus 3 is turned on, the CPU 10 of the game apparatus 3 executes a startup program stored in a boot ROM (not shown), whereby each unit such as the main memory is initialized. Then, the game program stored in the optical disc 4 is read into the main memory, and the execution of the game program 61 is started by the CPU 10. The flowchart shown in FIG. 17 is a flowchart showing a process performed after the above process is completed.

  First, in step S1, the CPU 10 sets the current state before pitching. Specifically, the CPU 10 stores a value (for example, 1) indicating the state before the pitch in a variable (state variable) indicating the pitch state stored in the main memory. Next, the CPU 10 sets the elapsed time after pitching to 0 in step S2. The post-throwing elapsed time is an elapsed time after the automatic pitching determination described later is made. Next, the CPU 10 executes main loop processing.

  The main loop process is executed at a rate of once per frame time (1/60 seconds), and is repeatedly executed until the game ends. In the main loop process, a sensor sample loop process is further executed. In the sensor sample loop, each operation data (acceleration in each axis direction) detected by the acceleration sensor 37, the 2-axis gyro sensor 55, and the 1-axis gyro sensor 56 transmitted from the controller 5 at a sampling cycle (for example, 200 times / second). And the angular velocity around each axis) are sequentially executed in accordance with the sampling period. In the sensor sample loop, first, the process of step S3 is executed.

  In step S3, the CPU 10 stores the values detected by the acceleration sensor 37, the 2-axis gyro sensor 55, and the 1-axis gyro sensor 56 in the main memory. Specifically, the CPU 10 stores the angular velocity around each axis transmitted from the controller 5 as angular velocity data 63 in the main memory. Similarly, the CPU 10 stores the acceleration transmitted from the controller 5 as acceleration data 64 in the main memory. Here, the CPU 10 stores the acceleration and angular velocity acquired from this time to a predetermined sample before as a history in the main memory. Next, the CPU 10 executes the process of step S4.

  In step S4, the CPU 10 performs a pitching process based on the acquired acceleration and angular velocity. Details of the processing in step S4 will be described with reference to FIG. FIG. 18 is a flowchart showing details of the pitching process (step S4) in FIG.

  First, the CPU 10 executes the process of step S10. In step S10, the CPU 10 determines whether or not the current state is before pitching. Specifically, the CPU 10 determines whether or not the state variable indicating the current state is a value (for example, 1) indicating before the pitching. In this game process, the state is set to one of three states before a pitch, during a pitch, or after a pitch. In step S10, it is determined which of these states is the current state. The state before throwing is a state before the player character holds the ball and performs a throwing motion. The state in which the player is throwing is a state in which the player character is holding the ball and performing a throwing motion. The state after throwing is a state after the player character has thrown the ball. When the determination result is affirmative, the CPU 10 next executes a process of step S11. If the determination result is negative, the CPU 10 next executes a process of step S15.

  In step S11, the CPU 10 calculates the pitch posture before Yaw reset. Step S11 is a process of calculating the pitch attitude of the input device 8 before the Yaw direction reset process described later is performed. Here, the pitch posture is a posture in the pitch direction (around the x axis) in the space fixed coordinate system (xyz coordinate system) of the input device 8. Details of the pitch posture calculation process before Yaw reset in step S11 will be described with reference to FIG. FIG. 19 is a flowchart showing details of the pitch posture calculation process before Yaw reset (step S11).

  First, the CPU 10 executes the process of step S30. In step S <b> 30, the CPU 10 acquires a rotation matrix M indicating the rotation of the input device 8. Specifically, the CPU 10 refers to the main memory and acquires the rotation matrix data 67. The rotation matrix data 67 is data representing the rotation matrix M represented by Expression (1) as described above. The rotation matrix M represents the attitude of the input device 8 calculated based on the latest angular velocity acquired in step S3. Next, the CPU 10 executes the process of step S31.

In step S31, the CPU 10 calculates an attitude in the pitch direction. Here, the attitude in the pitch direction indicates a pitch direction component (rotation around the x axis) of the attitude in the xyz coordinate system of the rotated input apparatus 8 when the input apparatus 8 is rotated by the rotation matrix M. Specifically, the CPU 10 calculates the posture in the pitch direction using the following equation (5).
Posture in the pitch direction = ArcSin (Zy) (5)
Zy is a value obtained from the rotation matrix M acquired in step S30, and is one element of the rotation matrix M shown in Expression (1). Here, when a calculation is performed by multiplying the unit vector ez (0, 0, 1) in the Z-axis direction of the object coordinate system (XYZ coordinate system) by the rotation matrix M, the vector ez ′ after the calculation is ez ′ = ( Zx, Zy, Zz). That is, when Zy rotates the unit vector in the Z-axis direction from the reference posture (that is, the posture when the XYZ coordinate system and the xyz coordinate system match) using the rotation matrix M, Zy The coordinate value of the y-axis in an xyz coordinate system is shown. Similarly, Zx indicates the coordinate value of the x-axis in the xyz coordinate system of the rotated vector when the unit vector in the Z-axis direction is rotated from the reference posture using the rotation matrix M. The same applies to Zz. The same applies to other elements. For example, when the unit vector in the X-axis direction is rotated from the reference posture using the rotation matrix M, Xz, Xy, and Xz are the x-axis, y-axis, and z in the xyz coordinate system of the rotated vector. Indicates the coordinate value of the axis. Yz, Yy, and Yz are the coordinates of the x-axis, y-axis, and z-axis in the xyz coordinate system of the rotated vector when the unit vector in the Y-axis direction is rotated using the rotation matrix M. Indicates the value.

  FIG. 28 is a diagram illustrating the posture in the pitch direction calculated in step S31. In the process of step S31, the posture in the pitch direction is calculated ignoring the posture in the yaw direction (that is, calculated as Zx = 0). The orientation in the yaw direction is a yaw direction component (rotation around the y axis) of the orientation in the xyz coordinate system of the rotated input device 8 when the input device 8 is rotated by the rotation matrix M. As is clear from FIG. 28, the posture in the pitch direction obtained by Expression (5) is an angle formed by the rotated vector ez ′ (0, Zy, Zz) and the z axis.

On the other hand, there are cases where the Z-axis after rotation is also inclined in the x-axis direction (that is, when Zx is not 0). The posture in the pitch direction and the posture in the yaw direction in this case will be described with reference to FIG. FIG. 29 is an explanatory diagram for explaining the posture in the pitch direction and the posture in the yaw direction. In FIG. 29, a vector ez ′ is a vector after the unit vector ez in the Z-axis direction is rotated around the X axis (or x axis) and the Y axis (or y axis). As shown in FIG. 29, the posture in the pitch direction is an angle formed by the zy projection vector and the z axis when the Z-axis direction unit vector ez ′ after rotation is projected on the zy plane. Represents the amount of rotation. Specifically, the posture in the pitch direction in this case is obtained not by the above formula (5) but by the following formula (6).
Posture in the pitch direction = ArcTan (Zy / Zz) (6)
Further, the posture in the yaw direction is a posture indicating how much the vector ez ′ is shifted in the x-axis direction. Specifically, the orientation in the yaw direction can be expressed as an angle formed by the xz projection vector and the z axis when the vector ez ′ is projected on the xz plane. That is, the posture in the yaw direction represents the amount of rotation around the y-axis.

  However, in step S31, the component in the x-axis direction, that is, the posture in the yaw direction (rotation around the y-axis) is not taken into consideration, and the posture in the pitch direction is obtained using Equation (5). This is because of the following reasons.

  That is, the posture of the input device 8 (posture in the xyz coordinate system) can always be accurately obtained with respect to the posture in the roll direction (rotation around the z axis) and the posture in the pitch direction (rotation around the x axis). This is because it is difficult to accurately obtain the posture in the yaw direction (rotation around the y-axis) depending on the situation.

  Specifically, the attitude of the input device 8 can be calculated by obtaining the rotation angle around each axis from the angular velocity detected by the gyro sensor. However, the rotation angle around each axis using the angular velocity is determined by calculating the angular velocity. Since it is obtained by integrating with time, errors accumulate with time. Further, since the rotation angle to be obtained is a rotation angle from a certain posture, when a certain posture is deviated from the reference posture, an accurate posture in the xyz coordinate system cannot be obtained. However, for the posture in the roll direction and the posture in the pitch direction, such an error can be corrected using the acceleration data detected by the acceleration sensor 37. That is, for example, when the input device 8 is at rest or the like, the direction of the acceleration vector detected by the acceleration sensor 37 coincides with the direction of gravity. Therefore, based on the direction of the acceleration vector detected by the acceleration sensor 37, it is possible to accurately determine how much the input device 8 is rotating in the roll direction (around the Z axis) and the pitch direction (around the X axis). . Even if the input device 8 is not stationary, the acceleration vector detected by the acceleration sensor 37 within a certain period of time is close to the gravity direction on average. Therefore, for example, when the average direction of the detected acceleration vector substantially coincides with the Y-axis negative direction, it can be understood that the input device 8 is not rotating in the roll direction and the pitch direction. Therefore, the rotation in the roll direction and the pitch direction can be obtained with a certain degree of accuracy. However, from the detection result of the acceleration sensor 37, the rotation around the direction of gravity (the posture in the yaw direction) cannot be detected. Therefore, the posture in the yaw direction (rotation around the y-axis) cannot basically be accurately obtained until the Yaw reset process described later is performed (however, the image generated by the image sensor 40 of the controller 5 is not changed). When images of the markers 6R and 6L are included, the posture of the input device 8 in the yaw direction (rotation around the y-axis) can also be accurately obtained based on the marker coordinates described above).

  For the reasons as described above, the posture in the yaw direction (rotation around the y-axis) is not considered in step S31. Therefore, in step S31, the CPU 10 calculates the attitude in the pitch direction using the equation (5), assuming that the yaw direction is not rotating (Z-axis is not inclined in the x-axis direction).

  When the input device 8 is rotated in the roll direction (around the Z axis), the pitch direction (around the X axis), and the yaw direction (around the Y axis) at angles θr, θp, and θy, respectively, the rotated xzy coordinate system ( The attitude in the pitch direction (rotation around the x axis) and the attitude in the yaw direction (rotation around the y axis) in the spatial coordinate system do not necessarily match the angle θp and the angle θy. For example, when the input device 8 is rotated by the angle θr in the roll direction (around the Z axis) and further rotated by the angle θp in the pitch direction (around the X axis), the input device 8 is rotated in the yaw direction (around the Y axis). In spite of not being made, in the xzy coordinate system, the posture is rotated in the yaw direction (around the y axis). Therefore, in this specification, in order to distinguish between the rotation in the object coordinate system (XYZ coordinate system) and the posture in the spatial coordinate system after rotation (xyz coordinate system), except when the coordinate system is specified, For example, the “posture in the pitch direction” means rotation around the x axis in the xyz coordinate system, and the “rotation in the pitch direction” means rotation around the X axis in the XYZ coordinate system. .

  Returning to FIG. 19, next, the CPU 10 executes the process of step S32. In step S32, the CPU 10 stores the posture in the pitch direction calculated in step S31 as a history. Specifically, the CPU 10 stores the calculated attitude in the pitch direction as pitch attitude data 71 in the main memory. Thereafter, the CPU 10 ends the pitch attitude calculation process before the Yaw reset, and executes the process of step S12 shown in FIG.

  Returning to FIG. 18, in step S12, the CPU 10 executes the pre-throwing state processing. In step S12, it is the process in the state before pitching. Details of the pre-throwing state process in step S12 will be described with reference to FIG. FIG. 20 is a flowchart showing details of the pre-throwing state process (step S12).

  In step S40, the CPU 10 sets the current motion based on the posture in the pitch direction. Specifically, the CPU 10 acquires the latest posture in the pitch direction calculated in step S31 from the pitch posture data 71 in the main memory. The CPU 10 selects a motion image associated with the posture in the pitch direction from a plurality of motion images stored in advance in the main memory, and sets it as the current motion. For example, the motion image is composed of images of several tens of player characters, and when a motion image corresponding to the posture in the pitch direction is selected, an action corresponding to the action of the player is shown in step S5 described later. An image of the player character is displayed on the television 2. Next, the CPU 10 executes the process of step S41.

  In step S41, the CPU 10 corrects the position of the player character's hand and the position of the ball. The processing here is based on the position of the player character's wrist (portion from the wrist) and the position of the ball around the position of the player character's wrist according to the posture of the input device 8 in the yaw direction (rotation around the y-axis). This is a process of correcting the position. More specifically, this is a process of moving the position of the player character's hand in the left-right direction with respect to the pitching direction according to the value of the element Zx of the rotation matrix M. Here, the element Zx of the rotation matrix M is the x-axis coordinate value in the xyz coordinate system of the rotated vector when the unit vector in the Z-axis direction is rotated using the rotation matrix M. Therefore, for example, when the player swings the input device 8 to the right side toward the screen, the position of the player character's hand and the position of the ball move to the right side with respect to the lane in accordance with the movement of the player. In step S41, specifically, the CPU 10 refers to the main memory, acquires the latest rotation matrix M (rotation matrix data 67) acquired in step S30, and sets the value of the element Zx of the rotation matrix M to a predetermined value. The correction amount in the x-axis direction is calculated by applying a coefficient. Then, the CPU 10 adds the calculated correction amount in the x-axis direction to the position of the hand and the ball in the x-axis direction in the current motion set in step S40, and sets it as a new current motion.

  Here, in step S41, it is difficult to accurately obtain the yaw orientation (rotation around the y-axis) as described above. That is, it cannot be accurately determined how much the input device 8 is rotating in the yaw direction from the reference posture (how much the tip of the controller 5 (light incident surface 35a) is displaced in the x-axis direction). However, in the pre-throwing state before the ball throwing operation, there is no problem even if an incorrect yaw orientation is used because it has nothing to do with the direction and strength of the ball when the ball is thrown. Here, the position of the hand of the player character and the position of the ball are corrected for presentation effects.

  Next, in step S42, the CPU 10 determines whether or not the B button 32i has been pressed. When determining that the B button 32i has been pressed, the CPU 10 next executes the process of step S43. When determining that the B button 32i has not been pressed, the CPU 10 ends the pre-throwing state process and returns the process to the pitching process shown in FIG.

  In step S43, the CPU 10 executes a Yaw reset process. Specifically, the CPU 10 calculates the posture in the pitch direction using Expression (5) and sets it as the current posture. The process here is a process of resetting an incorrect yaw direction attitude and setting the pitch direction attitude as the current attitude. That is, in step S43, the posture in the yaw direction is set to 0 when the B button 32i is pressed by the player (at this time, the player holds the input device 8 in the posture shown in FIG. 9). To do. As described above, since the posture in the yaw direction may not be accurate, the rotation in the yaw direction from the reference is reflected in the subsequent pitching processes with the point in time when the B button 32i is pressed as a reference. Thereafter, the CPU 10 ends the pre-throwing state process, and returns the process to the pitching process shown in FIG.

  Returning to FIG. 18, in step S <b> 13, the CPU 10 determines whether or not a Yaw reset has been performed. Specifically, when the Yaw reset process (the process in Step S43 described above) is performed in Step S12, the CPU 10 determines that the Yaw reset has been performed. If the determination result is affirmative, the CPU 10 next executes a process of step S14. If the determination result is negative, the CPU 10 ends the pitching process shown in FIG.

  In step S14, the CPU 10 sets the current state during pitching. Specifically, the CPU 10 stores a value (for example, 2) representing the state during the pitching in the state variable stored in the main memory. Therefore, since the state is set during pitching when the B button 32i is pressed, even if the input device 8 is moved before it is pressed, that is, when there is no intention to perform pitching, it is confirmed that pitching is performed erroneously. Can be prevented. In addition, since the player can throw while pressing the B button 32i, the input device 8 can be firmly held by applying force to the index finger. Next, the CPU 10 ends the pitching process shown in FIG.

  On the other hand, if it is determined in step S10 that the current state is not before pitching, the CPU 10 next executes the process of step S15.

  In step S15, the CPU 10 calculates the pitch posture after Yaw reset. In step S15, the pitch direction orientation of the input device 8 after the above-described Yaw reset process is performed is calculated. Details of the pitch posture calculation processing after Yaw reset in step S15 will be described with reference to FIG. FIG. 21 is a flowchart showing details of the pitch posture calculation processing after Yaw reset (step S15).

  First, the CPU 10 executes the process of step S50. In step S50, the same process as step S30 described above is executed. That is, the CPU 10 acquires a rotation matrix M indicating the rotation of the input device 8. Next, the CPU 10 executes the process of step S51.

In step S51, the CPU 10 calculates an attitude in the pitch direction based on the correction value. Specifically, the CPU 10 calculates the correction value using the following formula (7) or formula (8).
Correction value A = Zx × Zx (7)
Correction value A = −Zx × Zx (8)
Here, when Zx is a positive value, the correction value A is calculated using Equation (7), and when Zx is a negative value, the correction value A is calculated using Equation (8). When Zx is zero, the correction value A is zero. And CPU10 calculates the attitude | position of a pitch direction using the following formula | equation (9).
Posture in the pitch direction = ArcTan ((Zy + correction value A) / Zz) (9)
In the equation (9), the correction value A is added to the above equation (6). Hereinafter, the reason for adding the correction value A will be described.

  While the input device 8 is shaken in the horizontal direction from the reference posture, the value of Zy is in the vicinity of 0. Therefore, the posture in the pitch direction calculated using the above equation (6) is a value in the vicinity of 0. That is, even if the input device 8 is shaken by a predetermined angle in the horizontal direction, the input device 8 rotates on the xz plane, so the value of Zy remains zero. However, when the player swings the input device 8 in the horizontal direction, the input device 8 actually moves in the vertical direction (y-axis direction), so the value of Zy is a small positive or negative value with respect to 0 as a boundary. Indicates. Here, when the input device 8 is swung horizontally from the reference posture within a small angle range, the value of Zy / Zz is close to 0, and the posture in the pitch direction calculated using the equation (6) is The value is close to 0 degree. However, when the input device 8 is swung to an angle close to 90 degrees in the horizontal direction with respect to the reference posture, the value of Zz approaches zero. Then, since the value of Zy / Zz is close to 0, even if Zy is slightly increased, it rapidly increases and becomes a very large positive value. In this case, the posture in the pitch direction calculated using Expression (6) is a value close to 90 degrees. On the other hand, when the value of Zz is close to 0, when Zy shows a negative value (that is, when the tip of the input device 8 slightly moves downward), the value of Zy / Zz is very high. Indicates a large negative value. That is, when the input device 8 is swung to an angle close to 90 degrees in the horizontal direction with respect to the reference posture, if the tip of the input device 8 slightly moves up and down, the value of Zy / Zz becomes an infinite value. Return to and from minus infinity. Therefore, the posture in the pitch direction calculated using Expression (6) reciprocates between a value of 90 degrees and a value of -90 degrees. Then, since the motion image is set based on the posture in the pitch direction, the player character displayed on the screen instantaneously moves from one posture to another posture that is completely opposite. Therefore, if the posture in the pitch direction is calculated using Equation (6), the player character may move unnaturally. In order to prevent such an unnatural movement of the player character, in step S51, the posture in the pitch direction is calculated using Equation (9).

  The correction value A may be obtained in any way, for example, based on the value of Yz.

  Next, the CPU 10 executes the process of step S52. In step S52, the CPU 10 stores the posture in the pitch direction calculated in step S51 as a history in the main memory, similarly to the process in step S32. And CPU10 complete | finishes the pitch attitude | position calculation process after Yaw reset, and returns a process to the pitching process shown in FIG.

  Returning to FIG. 18, the CPU 10 executes the process of step S16. In step S16, the CPU 10 determines whether or not the current state is pitching. Specifically, the CPU 10 determines whether or not the state variable indicating the current state is a value (for example, 2) indicating before the pitching. If the determination result is affirmative, the CPU 10 next executes a process of step S17. If the determination result is negative, the CPU 10 next executes a process of step S20.

  In step S17, the CPU 10 executes a pitching state process. In step S17, it is the process in the state in which it is pitching. Details of the pitching state process in step S17 will be described with reference to FIG. FIG. 22 is a flowchart showing details of the pitching state process (step S17).

  First, in step S60, the CPU 10 sets the current motion based on the posture in the pitch direction. Specifically, the CPU 10 acquires the posture in the pitch direction calculated in step S51 from the main memory, and sets a motion image corresponding to the acquired posture in the pitch direction as the current motion, similarly to the processing in step S40 described above. To do. Next, in step S61, the CPU 10 corrects the position of the player character's hand and the position of the ball according to the posture of the input device 8 in the yaw direction, similarly to the process of step S41. Then, the CPU 10 executes the process of step S62.

  In step S62, the CPU 10 executes an automatic pitching determination process. In step S62, when the swing speed (strength) of the input device 8 becomes maximum, when the maximum value is larger than a predetermined threshold, it is determined that the player has thrown the ball. When the player performs a pitching operation as shown in FIGS. 10 to 12, the angular velocities detected by the gyro sensors 55 and 56 change. The process in step S62 is a process for determining whether or not the ball has been thrown based on the changing angular velocity. Detailed processing of the automatic pitching determination in step S62 will be described with reference to FIG. FIG. 23 is a flowchart showing details of the automatic pitching determination process (step S62).

  First, in step S70, the CPU 10 determines the current angular velocity length around the X axis and Y axis, the angular velocity length around the X axis and Y axis before one sample, and the X axis and Y axis before two samples. The lengths of the surrounding angular velocities are calculated and set as variables AV0, AV1, and AV2, respectively. Specifically, the CPU 10 refers to the angular velocity data 63 in the main memory, obtains the latest angular velocity around the X axis and the angular velocity around the Y axis, and calculates the length of the angular velocity in the XY direction (angular velocity around the X axis). And the magnitude of the angular velocity vector determined by the angular velocity around the Y axis). Then, the calculated length of the angular velocity in the XY directions is stored in the variable AV0 and stored in the main memory. Similarly, the CPU 10 refers to the angular velocity data 63 in the main memory, obtains the angular velocity around the X axis and the angular velocity around the Y axis one sample before, and sets the length of the angular velocity in the XY direction one sample before as a variable. As AV1, it is stored in the main memory. Similarly, the CPU 10 stores the length of the angular velocity in the XY direction two samples before as a variable AV2 in the main memory. Next, the CPU 10 executes the process of step S71.

  In step S71, the CPU 10 determines whether AV1 ≧ AV0 and AV1> AV2 are satisfied. The process in step S71 is a process for determining whether or not the length of the angular velocity in the XY direction one sample before is a maximum value. That is, here, it is determined whether or not the swing speed (strength) of the input device 8 is maximum. It is considered that the player swings the input device 8 so as to apply force to the ball at the moment of throwing the ball shown in FIG. 12, and at that moment, the length of the angular velocity in the XY directions is considered to be maximum. If the determination result is affirmative, it is considered that there is a possibility that the ball has been thrown, so the CPU 10 next executes the process of step S72. On the other hand, when the determination result is negative, the CPU 10 ends the automatic pitching determination process and returns the process to the in-throwing state process shown in FIG. Note that it may be determined in any way whether the length of the angular velocity is the maximum value.

  In step S72, the CPU 10 sets the current posture in the pitch direction to the variable Rot0 and the posture in the pitch direction one sample before to the variable Rot1. Specifically, the CPU 10 refers to the pitch attitude data 71 in the main memory, acquires the latest attitude in the pitch direction calculated in step S51, stores it in the variable Rot0, and stores it in the main memory. Similarly, the CPU 10 refers to the pitch attitude data 71 of the main memory, acquires the attitude in the pitch direction one sample before, stores it in the variable Rot1, and stores it in the main memory. Next, the CPU 10 executes the process of step S73.

  In step S73, the CPU 10 determines whether or not Rot0> Rot1. The processing in step S73 is processing for determining whether or not the current posture in the pitch direction is larger than the posture in the pitch direction one sample before. The process here is a process for determining whether a backswing or a forward swing is currently being performed. When the player is performing the backswing shown in FIG. 10, the posture in the pitch direction (see FIGS. 28 and 29) is considered to change in a decreasing direction. On the other hand, when the player is performing the forward swing shown in FIG. 11, it is considered that the posture in the pitch direction is changing in the increasing direction. Therefore, when the determination result is affirmative, the CPU 10 determines that the posture in the pitch direction is changing in the increasing direction, and then executes the process of step S74. On the other hand, if the determination result is negative, the CPU 10 determines that the posture in the pitch direction has changed in a direction that decreases, and then executes the process of step S75.

  In step S74, the CPU 10 determines whether AV1 is larger than the forward swing threshold. The process in step S74 is a process for determining whether or not the length of the angular velocity in the XY direction has a maximum value, and whether the length of the angular velocity in the XY direction at the time is greater than a threshold during forward swing. It is. Even when the length of the angular velocity in the XY direction shows a maximum value, if the length of the angular velocity in the XY direction at that time is equal to or less than a predetermined threshold, the CPU 10 does not determine that the ball has been thrown. That is, even if the length of the angular velocity in the XY directions shows a maximum value, if the player does not swing the input device 8 faster than the predetermined speed, the CPU 10 does not determine that the ball has been thrown. If the determination result is affirmative, the CPU 10 next executes a process of step S76. If the determination result is negative, the CPU 10 ends the automatic pitching determination process and returns the process to the in-throwing state process shown in FIG.

  On the other hand, if the determination result is negative in step S73, it is determined that the player is performing a backswing, and the process of step S75 is executed. In step S75, the CPU 10 determines whether or not AV1 is larger than the backswing threshold. In the process in step S75, the length of the angular velocity in the XY direction shows the maximum value, and the length of the angular velocity in the XY direction at that time is greater than the threshold value at the time of backswing, as in the process in step S74. Is a process for determining whether or not the value is larger. If the determination result is affirmative, the CPU 10 next executes a process of step S76. If the determination result is negative, the CPU 10 ends the automatic pitching determination process and returns the process to the in-throwing state process shown in FIG. Note that the threshold value during the backswing is set to be larger than the threshold value during the forward swing in step S74. This is to prevent the ball from flying in the direction opposite to the pitching direction as much as possible by making the automatic pitching determination during the backswing. In another embodiment, the pitch determination may be performed only during the forward swing, and the pitch determination may not be performed during the backswing.

  In step S76, the CPU 10 stores in the main memory a value indicating that the pitch determination has been established, assuming that the ball has been thrown. If the determination result is affirmative in step S74, the ball rolls in the throwing direction in the subsequent processing. On the other hand, if the determination result is affirmative in step S75, the ball rolls in a direction opposite to the throwing direction in the subsequent processing. Accordingly, in step S76, a value indicating whether the pitch determination is established is stored in the main memory so that it can be distinguished whether the process of step S74 or step S75 has been executed immediately before. Thereafter, the CPU 10 ends the automatic pitching determination process, and returns the process to the in-throwing state process shown in FIG.

  Returning to FIG. 22, in step S63, the CPU 10 determines whether or not automatic pitching has been established. Specifically, the CPU 10 refers to the main memory and determines whether or not a value indicating that the pitch determination has been established (the value stored in step S76) is stored. If the determination result is affirmative, the CPU 10 next executes a process of step S64. If the determination result is negative, the CPU 10 ends the pitching state process and returns the process to the pitching process shown in FIG.

  In step S <b> 64, the CPU 10 calculates the “swing intensity” based on the acceleration of the past predetermined sample. Specifically, the CPU 10 refers to the acceleration data 64 of the main memory, and among the past predetermined samples (for example, the past 24 samples), each of the acceleration vectors (vectors having respective acceleration values for three axes as respective components). The size is calculated and the maximum value is calculated. Then, the CPU 10 stores the maximum value in the main memory as the swing strength. Next, the CPU 10 executes the process of step S65.

  In step S65, the CPU 10 calculates the vertical injection vector. Specifically, the CPU 10 calculates the vertical ejection angle in the virtual game space based on the posture in the pitch direction. For example, the CPU 10 calculates the injection angle with reference to a table in which the relationship between the posture in the pitch direction and the injection angle is determined in advance. Then, the CPU 10 calculates an injection vector (0, sin (injection angle), cos (injection angle)) in the virtual game space based on the calculated injection angle, and stores it in the main memory. Next, the CPU 10 executes the process of step S66.

  In step S66, the CPU 10 applies force to the ball. Specifically, the CPU 10 calculates the pitching direction (pin direction) and the vertical force in the virtual game space by applying the swing strength calculated in step S64 to the injection vector calculated in step S65. Then, the CPU 10 performs a process of applying the calculated force to the ball. Next, the CPU 10 executes the process of step S67.

  In step S <b> 67, the CPU 10 stores the swing strength calculated in step S <b> 64 in the main memory as “force applied to the ball”. Next, the CPU 10 executes the process of step S68.

  In step S68, the CPU 10 performs a process of applying a lateral force to the ball. The processing here is processing for applying a force in the horizontal direction in the virtual game space according to the posture in the yaw direction (the amount of rotation about the y-axis). That is, when the player swings the input device 8 in an oblique direction rather than parallel to the front-rear direction (z-axis direction), the input device 8 rotates around the y-axis from the standard posture state, so the CPU 10 A lateral force is applied to the ball as the direction rotates. Specifically, the CPU 10 refers to the rotation matrix data 67 of the main memory, and obtains a value obtained by subtracting the element Zx of the rotation matrix M one sample previous from the element Zx of the latest rotation matrix M as the “lateral force”. Calculate as Then, the CPU 10 performs a process of applying the calculated lateral force to the ball. Next, the CPU 10 ends the pitching state process, and returns the process to the pitching process shown in FIG.

  Returning to FIG. 18, in step S18, the CPU 10 determines whether or not automatic pitching has been performed. Specifically, the CPU 10 refers to the main memory and determines whether or not a value indicating that the pitch determination has been established (the value stored in step S76) is stored. If the determination result is affirmative, the CPU 10 next executes a process of step S19. If the determination result is negative, the CPU 10 ends the pitching process.

  In step S19, the CPU 10 sets the current state after the pitch. Specifically, the CPU 10 stores a value (for example, 3) indicating the state after the pitch in the state variable stored in the main memory. Next, the CPU 10 ends the pitching process shown in FIG.

  On the other hand, if the determination result is negative in step S16, that is, if the current state is not pitching, the current state is not before or during the pitching, so the CPU 10 next executes the process of step S20. In step S20, the trajectory and speed of the ball are corrected based on the angular velocity and / or acceleration detected after the pitch. Details of the post-throwing state process in step S20 will be described with reference to FIG. FIG. 24 is a flowchart showing details of the post-throwing state process (step S20).

  First, in step S80, the CPU 10 increments the post-throwing elapsed time. Next, in step S81, the CPU 10 determines whether or not the elapsed time after pitching is less than 32. If the determination result is affirmative, the CPU 10 next executes a process of step S82. If the determination result is negative, the CPU 10 next executes a process of step S83.

  In step S82, the CPU 10 executes a power update process. The process here is a process of correcting the “force applied to the ball” according to the magnitude of the acceleration detected by the acceleration sensor 37 during a predetermined period after the pitch. Details of the power update process in step S82 will be described with reference to FIG. FIG. 25 is a flowchart showing details of the power update process (step S82).

  First, in step S <b> 90, the CPU 10 calculates “swing strength” based on the current magnitude of the acceleration vector. Specifically, the CPU 10 refers to the acceleration data 64 in the main memory, calculates the latest acceleration vector magnitude, and stores it in the main memory as the current swing strength. Next, the CPU 10 executes the process of step S91.

  In step S91, the CPU 10 determines whether or not the force applied to the ball is smaller than the swing strength. The processing here is processing for determining whether or not the force currently applied to the ball is smaller than the magnitude of the acceleration vector detected by the current acceleration sensor 37. Specifically, the CPU 10 refers to the main memory and determines whether or not the “force applied to the ball” is smaller than the current “strength of swing” calculated in step S90. If the determination result is affirmative, the CPU 10 next executes a process of step S92. If the determination result is negative, the CPU 10 ends the power update process.

  In step S92, the CPU 10 applies a force obtained by subtracting “the force applied to the ball” from the “strength of swing” calculated in step S90 to the ball. This process is a process of additionally adding the difference to the ball when the “strength of swing” is greater than the “force applied to the ball”. Next, in step S93, the CPU 10 stores the “strength of swing” calculated in step S90 as “force applied to the ball” in the main memory, and ends the power update process.

  As described above, by executing the power update process after the ball is thrown, it is possible to additionally apply a force to the ball according to the acceleration detected by the acceleration sensor 37 in a predetermined period after the pitch.

  Returning to FIG. 24, in step S83, the CPU 10 determines whether or not the post-throwing elapsed time is equal to 24. If the determination result is affirmative, the CPU 10 next executes a process of step S84. If the determination result is negative, the CPU 10 next executes a process of step S85.

  In step S84, the CPU 10 performs curve calculation. The process here is a process of changing the trajectory of the ball by applying rotation to the ball. Details of the curve calculation process in step S84 will be described with reference to FIG. FIG. 26 is a flowchart showing details of the curve calculation process (step S84).

First, in step S100, the CPU 10 calculates a curve amount based on the integrated value of acceleration in the X direction and the integrated value of angular velocity in the roll direction. Specifically, the CPU 10 refers to the acceleration data 64 and the angular velocity data 63 in the main memory, and calculates the acceleration in the X-axis direction and the angular velocity around the Z-axis (roll direction) in the past predetermined samples (for example, the past 48 samples). get. Next, the CPU 10 calculates the sum of the absolute values of the acquired acceleration in the X-axis direction as an integrated value of acceleration. Similarly, the CPU 10 calculates the sum of the acquired angular velocities around the Z axis as an integrated value of angular velocities. Then, the CPU 10 calculates the curve amount based on the following equation (10).
Curve amount = accumulated integrated value × α + absolute angular velocity integrated value × β (10)
Here, α and β are predetermined coefficients. Next, the CPU 10 executes the process of step S101.

  In step S101, the CPU 10 determines whether or not the absolute value of the angular velocity integrated value is greater than a predetermined value. This process is a process for determining whether or not the player has rotated the input device 8 around the Z axis within the past predetermined sample. That is, when the absolute value of the integrated value of angular velocities around the Z axis is larger than a predetermined value, it is considered that the player has intentionally rotated (twisted) the input device 8 around the Z axis. On the other hand, when the absolute value of the integrated value of angular velocities around the Z axis is equal to or smaller than a predetermined value, it is considered that the player has not intentionally rotated the input device 8 around the Z axis (does not perform a twisting action). When the determination result is affirmative, the CPU 10 next executes a process of step S102. If the determination result is negative, the CPU 10 next executes the process of step S103.

  In step S102, the CPU 10 determines the curve direction based on the sign of the integrated value of the angular velocity. Here, the curve direction is a direction in which the ball curves with respect to the pitching direction (direction toward the pin). Specifically, the CPU 10 determines the curve direction based on the sign of the angular velocity integrated value calculated in step S100. For example, when the sign of the angular velocity integrated value is negative, the curve direction is set to negative. Thereby, the curve direction is set in the same direction as the direction in which the player rotates the input device 8 around the Z axis. Next, the CPU 10 executes the process of step S104.

  On the other hand, in step S <b> 103, the CPU 10 determines the curve direction based on the attitude of the input device 8. In step S103, since it is determined that the player has not intentionally rotated the input device 8 around the Z axis in the immediately preceding step S102, the curve direction is not determined based on the angular velocity around the Z axis. The curve direction is calculated based on the attitude of the input device 8 at this time. That is, in an actual bowling throwing operation, a curve may be applied depending on the direction of the palm when the ball is released, rather than the operation of twisting the ball. For example, a player who actually throws the ball with the right hand, when making a curve in the left direction, does not throw the palm in the direction of the pin but immediately before the release and immediately after the release. In some cases, the ball is thrown in a direction perpendicular to the direction (left direction with respect to the pin direction). Therefore, also in this game, when the upper surface (button surface) of the input device 8 after the pitching is facing the left direction with respect to the pitching direction, it is assumed that the player curves in the left direction and the curve direction is set to the left direction. Set to. Specifically, in step S103, the CPU 10 refers to the main memory and determines the curve direction based on the sign of the element Xy of the current rotation matrix M. As a result, the curve direction is set to the same direction as the direction in which the upper surface of the input device 8 faces, and as a result, the ball curves in the direction in which the upper surface of the input device 8 faces. Next, the CPU 10 executes the process of step S104.

  In step S104, the CPU 10 rotates the ball based on the curve amount calculated in step S100 and the curve direction set in step S102 or step S103. That is, the CPU 10 performs a process of applying a “curve amount” rotation to the “curve direction” on the ball. Then, the CPU 10 ends the curve calculation process.

  Returning to FIG. 24, in step S85, the CPU 10 determines whether or not the post-throwing elapsed time is less than 200. If the determination result is affirmative, the CPU 10 next executes a process of step S86. When the determination result is negative, the CPU 10 ends the post-throwing state process.

  In step S86, the CPU 10 determines whether or not the straight determination has been completed. The process of step S86 is a process of determining whether straight is established or straight is not established by executing a straight correction process of step S87 described later. Specifically, the CPU 10 refers to the main memory, and the value indicating the straight determination result is a value indicating that the straight is established (for example, 1) or a value indicating that the straight is not established (for example, −1). It is determined whether or not. If the determination result is negative, the CPU 10 next executes a process of step S87. If the determination result is affirmative, the CPU 10 ends the post-throwing state process.

  In step S87, the CPU 10 executes straight correction processing. The process here is a process for straightening the rolling direction of the ball based on the attitude of the input device 8 at the time when the operation of shaking the input device 8 is considered to be completed (at the time of the finish state). Details of the straight correction process in step S87 will be described with reference to FIG. FIG. 27 is a flowchart showing details of the straight correction process (step S87).

  First, in step S110, the CPU 10 determines whether or not the current angular velocity length in the XY direction is smaller than 0.3. The processing here is processing for determining that the input device 8 is not currently shaken. When the player as shown in FIG. 13 finishes the pitching motion, the input device 8 is in a substantially stationary state (a state in which the angular velocity in the XYZ-axis directions is substantially 0). In step S110, it is determined whether or not the player has finished swinging the input device 8 by determining whether or not the player is currently stationary. Specifically, the CPU 10 refers to the angular velocity data 63 in the main memory and acquires the latest angular velocity around the X axis and angular velocity around the Y axis. Then, it is determined whether or not the magnitude of the angular velocity vector having the acquired angular velocity around the X axis and angular velocity around the Y axis as a component is smaller than a predetermined value (for example, 0.3). If the determination result is affirmative, the CPU 10 determines that the player has finished swinging the input device 8, and then performs the process of step S111. If the determination result is negative, the CPU 10 determines that the player has not finished swinging the input device 8, and ends the straight correction process. When the determination result is negative, the value indicating the straight determination result is a value that is neither a value indicating straight establishment (for example, 1) or a value indicating straight failure (for example, -1) (for example, 0). ).

  In step S111, the CPU 10 sets the value of the loop counter i to 0. Next, the process of step S112-step S117 is performed. In steps S112 to S117, it is determined whether or not the following two conditions are satisfied for the period of the previous 8 samples from the time when the player finishes swinging the input device 8, and the two conditions are satisfied for that period. In this case, the CPU 10 corrects the rotation direction and / or the rotation amount of the ball in step S118. The first condition is that the input device 8 does not rotate in the roll direction during the previous eight samples from when the player has finished swinging the input device 8. The second condition is that the input device 8 has a top surface (button surface) that faces the ground during the previous eight samples from when the player has finished swinging the input device 8. That is, the positive direction of the Z-axis is directed in the direction directly behind the player. When either the first condition or the second condition is not satisfied, the CPU 10 does not correct the rotation direction or / and the rotation amount of the ball.

  First, in step S112, the CPU 10 refers to the rotation matrix data 67 of the main memory and acquires the rotation matrix Mi before i samples. Next, the CPU 10 executes the process of step S113.

  In step S113, the CPU 10 determines whether or not the absolute value of the element Yx of the rotation matrix Mi is smaller than a predetermined value (for example, 0.3). The process in step S113 is a process for determining whether or not the first condition is satisfied. When the input device 8 rotates in the roll direction, the value of the element Yx of the rotation matrix Mi is a non-zero value. Therefore, when the absolute value of the element Yx is equal to or greater than a predetermined threshold value, the input device 8 rotates by a predetermined value or more in the roll direction, so that the rotation direction and / or the rotation amount of the ball is not corrected. If the determination result is affirmative in step S113, the CPU 10 next executes the process of step S114. If the determination result is negative, the CPU 10 next executes the process of step S120.

  In subsequent steps S114 and S115, it is determined whether or not the second condition is satisfied. First, in step S114, the CPU 10 determines whether or not the element Yy of the rotation matrix Mi is smaller than zero. The process of step S114 is a process of determining whether or not the upper surface of the input device 8 faces the ground among the second conditions. The case where the upper surface of the input device 8 faces the direction of the ground means a case where a straight line (Y-axis positive direction) extending perpendicularly to the upper surface of the input device 8 intersects the ground (see FIG. 15A). When the element Yy is smaller than 0, the input device 8 takes a posture as shown in FIG. 15A. If the determination result is affirmative in step S114, the CPU 10 next executes the process of step S115. When the determination result is negative, the CPU 10 next executes a process of step S116.

  In step S115, the CPU 10 determines whether or not the element Zz of the rotation matrix Mi is smaller than 0 and whether the absolute value of the element Zx of the rotation matrix Mi is smaller than 0.3. The process of step S115 is a process of determining whether or not the positive direction of the Z-axis of the input device 8 is in the direction directly behind the player among the second conditions. The case where the positive Z-axis direction of the input device 8 does not face the player's rearward direction means that the Z-axis of the input device 8 is the z-axis in the xyz coordinate system when the upper surface of the input device 8 faces the ground. This is a case where it is inclined at a predetermined angle in the x-axis direction (see FIG. 15B). When the absolute value of the element Zx is larger than a predetermined value, it indicates that the Z axis of the input device 8 is inclined at a predetermined angle in the positive direction or the negative direction of the x axis. If the determination result is affirmative in step S115, the CPU 10 next executes the process of step S116. If the determination result is negative, the CPU 10 next executes the process of step S120.

  In step S116, the CPU 10 increments the loop counter i. Next, in step S117, the CPU 10 determines whether or not the value of the loop counter i is smaller than 8. If the determination result is affirmative, the CPU 10 next performs a process of step S118. When the determination result is negative, the CPU 10 executes the process of step S112 again.

  When the process of step S112 to step S117 is performed and the process of step S118 is performed, the first condition and the second condition are satisfied during the previous 8 samples from the time when the player has swung the input device 8. be satisfied. In such a case, since it is considered that the player is throwing a straight ball, in step S118, the rotation direction and the rotation amount of the ball are corrected so that the ball becomes straight.

  Specifically, in step S118, the CPU 10 performs a process of directing the rotation direction of the ball toward the pin or / and a process of reducing the rotation amount of the ball. For example, when the ball is rotating in a direction that curves to the left, the CPU 10 corrects the ball so that it does not curve to the left by directing the rotation of the ball toward the pin. By correcting in this way, the ball rolls straight with respect to the pin without curving. Next, the CPU 10 executes the process of step S119.

  In step S119, the CPU 10 sets a value indicating the straight determination result to a value indicating the straight establishment (for example, 1) and stores it in the main memory. Then, the CPU 10 ends the straight correction process of FIG. 27 and ends the post-throwing state process shown in FIG. 24 (the pitching process of FIG. 18 is also ended and the process returns to the process of FIG. 17).

  On the other hand, if the determination result is negative in step S113 or step S115, it is determined that the player is not throwing a straight ball, and the CPU 10 corrects the rotation direction and / or the rotation amount of the ball (processing in step S118). Not performed. If the determination result is negative in step S113 or step S115, the CPU 10 executes the process of step S120. In step S120, the CPU 10 sets a value indicating the straight determination result to a value indicating the straight failure (for example, -1), and stores it in the main memory. Then, the CPU 10 ends the straight correction process of FIG. 27 and ends the post-throwing state process shown in FIG. 24 (the pitching process of FIG. 18 is also ended and the process returns to the process of FIG. 17).

  Note that the thresholds for various determinations (for example, steps S110 and S113 to S115) used in the details of the straight correction process shown in FIG. 27 are not limited to the values described above, and may be any values.

  Further, the power update process (step S82 in FIG. 24), the curve calculation process (step S84), and the straight correction process (step S87) may be executed at any timing after the pitch. For example, the power update process may be executed after a predetermined time has elapsed since the pitch was established, and the curve calculation process may be executed during a predetermined period before and after the pitch is established.

  Returning to FIG. 17, in the sensor sample loop, after the processes of step S3 and step S4 are executed a predetermined number of times, the process of step S5 is executed. In step S5, the CPU 10 performs a game process. Specifically, the CPU 10 displays the player character on the screen according to the motion of the player character set in step S3, the position of the hand, etc., or the force applied to the ball calculated in step S3 and its direction. In response to this, the ball is moved in the game space, and the moved ball is displayed on the screen.

  Although not shown in FIG. 17, the main loop ends at the timing when the game ends. The timing when the game ends is when the player performs an operation for ending the game, when the player clears the game, or the like. After the main loop process ends, the CPU 10 ends the game process shown in FIG. This is the end of the description of the game process.

  As described above, in the present embodiment, the pitch determination is performed based on the angular velocities detected by the gyro sensors 55 and 56 (step S62), and the ball is determined based on the acceleration detected by the acceleration sensor 37 before the pitch is established. The force applied to the ball (and hence the moving speed of the ball) was calculated (step S64). Further, the force applied to the ball was corrected based on the acceleration detected after the pitch was established (step S82). Further, the curve amount and curve direction of the ball were calculated based on the acceleration and angular velocity detected before and after the pitch was established (step S84). Further, straight correction was performed based on the attitude of the input device 8 after the pitch was established (step S87). Thus, by determining the attitude of the input device 8 and the speed of swing based on the angular velocity, the swing motion of the input device 8 by the player can be determined more accurately. Thereby, the swinging motion of the input device 8 by the player can be more accurately reflected in the pitching speed and direction of the ball. Therefore, the player can play a game based on an intuitive operation such as an actual operation.

  In this embodiment, when the angular velocity in the XY directions is maximal and the value is larger than a predetermined threshold, it is determined that the pitch has been established, and a process of moving the ball based on the acceleration is performed. . In another embodiment, when the angular velocity detected by the gyro sensor satisfies a predetermined condition, a process of moving a predetermined object based on the acceleration may be performed. For example, it is determined based on the angular velocity detected by the gyro sensors 55 and 56 that the swing motion of the input device 8 has been started, and the strength of the swing is determined based on the acceleration detected by the acceleration sensor 37 during the swing motion. You may ask for it. Then, the game object may be moved in accordance with the start of the swing motion of the input device 8, and the movement amount, movement speed, and change amount of the movement direction may be set based on the acceleration.

  Further, in the present embodiment, when the angular velocity detected by the gyro sensors 55 and 56 of the input device 8 satisfies a predetermined condition (the angular velocity is a maximum and larger than a predetermined threshold), the acceleration sensor 37 detects the angular velocity. The ball started to move based on the acceleration (the ball was thrown). In another embodiment, when the angular velocity of the input device 8 satisfies a predetermined condition, the moving object is accelerated or decelerated based on the acceleration of the input device 8, or the moving direction of the moving object is (Orbit) may be changed. For example, when the object moving in the game space is decelerated according to a predetermined swing motion with respect to the input device 8, the predetermined swing motion with respect to the input device 8 is detected based on the angular velocity of the input device 8, The degree of deceleration of the object may be determined according to the magnitude of acceleration of the input device 8 detected before and after the detection of the swing motion.

  In this embodiment, the curve amount is calculated based on the integrated value of the angular velocity in the roll direction and the integrated value of the acceleration in the X-axis direction, and the ball is rotated (step S100). In another embodiment, the amount of curve may be calculated based on a predetermined angular velocity in one axis direction and a predetermined acceleration in one axis direction, or the predetermined angular velocity in two axes (or three axes) and a predetermined amount. The amount of curve may be calculated based on the acceleration in the biaxial (or triaxial) direction.

  In the present embodiment, when the angular velocity of the input device 8 satisfies a predetermined condition, the curve amount is calculated based on the integrated value of the angular velocity and the integrated value of the acceleration, and the sign of the integrated value of the angular velocity or the input device Based on the posture of 8, the curve direction was calculated to rotate the ball (step S84). That is, when the angular velocity of the input device 8 satisfies a predetermined condition, the amount of change in the moving direction of the object is calculated based on the angular velocity and acceleration of the input device 8, and based on the angular velocity of the input device 8, The changing direction of the moving direction was calculated. In other embodiments, the changing direction of the moving direction of the object may be calculated based on the acceleration of the input device 8. In this case, it is preferable that the acceleration excluding the acceleration in the gravity direction with respect to the input device 8 is calculated, and the direction in which the moving direction of the object changes is calculated based on the calculated acceleration. Furthermore, in another embodiment, when the angular velocity of the input device 8 satisfies a predetermined condition, the amount of change in the moving direction of the object and the direction in which the object moves may be calculated based only on the acceleration of the input device 8. .

  Further, in the present embodiment, in the straight correction process, when the magnitude of the angular velocity in the XY directions is smaller than the predetermined threshold (step S110), it is determined that the player's swing motion has ended, and straight correction is performed. In another embodiment, straight correction may be performed when the magnitude of the acceleration detected by the acceleration sensor 37 is within a predetermined range. The acceleration detected by the acceleration sensor 37 includes acceleration due to gravity and acceleration due to the player's swing motion. When the player shakes the input device 8, the magnitude of the detected acceleration becomes larger or smaller than gravity depending on the swinging motion by the player. Accordingly, when the detected acceleration magnitude is substantially equal to the gravity magnitude, it can be determined that the player's swing motion has ended.

  The timing for performing the straight correction process is not limited to the case where it is considered that the swing operation of the input device 8 has been completed (when determined Yes in step S110), but may be any timing. For example, when the first condition (step S114) and the second condition (step S115) related to the posture described above are satisfied in a predetermined period based on a predetermined time after the automatic pitching determination, straight As the establishment, straight correction (step S118) may be performed.

  In this embodiment, a bowling game has been described as an example, but any game to which the present invention is applied may be used. For example, the present invention can be applied to various games such as a pitching action in a baseball game, a shot action in a golf game, and a throwing action (a throwing of an athletics). That is, the present invention can be widely applied to games in which an object in the game world is controlled to move according to how the player swings the input device 8.

  In this embodiment, the acceleration sensor 37 detects the acceleration in the triaxial direction, and the gyro sensors 55 and 56 detect the angular velocity in the triaxial direction. However, the acceleration or angular velocity in the uniaxial or biaxial direction is detected. The present invention can also be realized by.

  In the present embodiment, the controller 5 and the game apparatus 3 are connected by wireless communication. However, the controller 5 and the game apparatus 3 may be electrically connected via a cable.

  Further, the game program of the present invention may be supplied not only to the game apparatus 3 through an external storage medium such as the optical disc 4 but also to the game apparatus 3 through a wired or wireless communication line. The game program may be recorded in advance in a non-volatile storage device inside the game apparatus 3. The information storage medium (computer-readable storage medium) for storing the game program may be a non-volatile semiconductor memory in addition to a CD-ROM, DVD, or similar optical disk storage medium.

  Moreover, in this embodiment, the process by the flowchart mentioned above was performed because CPU10 of the game device 3 performed a game program. In another embodiment, part or all of the above processing may be performed by a dedicated circuit included in the game apparatus 3.

  As described above, the game device and the game program according to the present invention perform a process of operating a virtual object or the like according to a swinging motion with respect to the input device in an operation input using the input device including the acceleration sensor and the gyro sensor. For example, it can be used as a game device and a game program.

DESCRIPTION OF SYMBOLS 1 Game system 2 Television 3 Game device 4 Optical disk 5 Controller 6 Marker part 7 Gyro sensor unit 8 Input device 10 CPU
11c GPU
11e Internal main memory 12 External main memory 37 Acceleration sensor 55, 56 Gyro sensor 63 Angular velocity data 64 Acceleration data

Claims (24)

A game device that acquires operation data including angular velocity data and acceleration data from an input device including an angular velocity sensor and an acceleration sensor, and performs game processing based on the operation data.
Determination means for determining whether or not the angular velocity data satisfies a predetermined condition;
A movement control means for controlling movement of a predetermined object in the game space based on the acceleration data acquired in a predetermined period determined based on a time point when the angular velocity data satisfies the predetermined condition;
A game apparatus comprising: display control means for displaying the predetermined object whose movement is controlled by the movement control means.   The game apparatus according to claim 1, wherein the movement control unit controls a moving speed of the object based on the acceleration data.   The game apparatus according to claim 2, wherein the movement control unit controls the moving speed of the object by applying a force to the object based on a magnitude of acceleration indicated by the acceleration data. A position determination unit that determines a position of the object based on the angular velocity data for a period until the determination unit determines that the angular velocity data satisfies the predetermined condition;
The movement control means starts moving the object in a predetermined direction from a position determined by the position determination means when the determination means determines that the angular velocity data satisfies the predetermined condition. The game device according to 1. An angular velocity storage means for sequentially storing the angular velocity data;
The determination means, based on the angular velocity data stored in the angular velocity storage means, when the magnitude of the angular velocity indicated by the angular velocity data indicates a maximum value and is greater than a predetermined threshold value, the angular velocity data is determined as the predetermined velocity. The game device according to claim 1, wherein it is determined that the condition is satisfied.   The game apparatus according to claim 2, wherein the movement control unit further controls a moving direction of the object based on the acceleration data. An acceleration storage means for sequentially storing the acceleration data;
The movement control means uses the time when the determination means determines that the angular velocity data satisfies the predetermined condition as a determination time, and sets a predetermined length period before the determination time as the predetermined period. The game device according to claim 2, wherein the moving speed of the object is controlled based on acceleration data stored in the included acceleration storage means.   The game apparatus according to claim 7, wherein the movement control unit controls the movement speed of the object based on a magnitude of a maximum acceleration among acceleration data included in the predetermined period.   The game apparatus according to claim 8, wherein the movement control unit further controls the movement speed of the object according to an attitude of the input device at the time of the determination calculated based on the angular velocity data.   The game apparatus according to claim 8, wherein the movement control unit further changes the movement speed of the object based on the acceleration data acquired after the determination time.   The movement control means indicates the acceleration data acquired after the determination when the magnitude of the acceleration indicated by the acceleration data acquired after the determination is larger than the maximum value of the acceleration during the predetermined period. The game device according to claim 10, wherein the moving speed of the object is further changed based on a magnitude of acceleration.   The movement control means injects the object in the game space in a predetermined direction when the angular velocity data satisfies the predetermined condition, and based on acceleration data acquired at or before the injection of the object. The movement speed of the object immediately after the injection is determined based on acceleration data newly acquired in a certain period immediately after the injection of the object, while determining the movement speed of the object immediately after the injection. Game device. A game program that is executed on a computer of a game device that acquires operation data including angular velocity data and acceleration data from an input device including an angular velocity sensor and an acceleration sensor and performs game processing based on the operation data. ,
Determination means for determining whether or not the angular velocity data satisfies a predetermined condition;
A movement control means for controlling movement of a predetermined object in the game space based on the acceleration data acquired in a predetermined period determined based on a time point when the angular velocity data satisfies the predetermined condition;
A game program for causing the computer to function as display control means for displaying the predetermined object whose movement is controlled by the movement control means on a screen.   The game program according to claim 13, wherein the movement control means controls a moving speed of the object based on the acceleration data.   The game program according to claim 14, wherein the movement control unit controls the moving speed of the object by applying a force to the object based on a magnitude of acceleration indicated by the acceleration data. The computer further functions as position determining means for determining the position of the object based on the angular velocity data for a period until the angular velocity data is determined to satisfy the predetermined condition by the determining means,
The movement control means starts moving the object in a predetermined direction from a position determined by the position determination means when the determination means determines that the angular velocity data satisfies the predetermined condition. 13. The game program according to 13. As the angular velocity storage means for sequentially storing the angular velocity data, the computer is further functioned,
The determination means, based on the angular velocity data stored by the angular velocity storage means, shows that the angular velocity data indicated by the angular velocity data has a maximum value and is larger than a predetermined threshold value, the angular velocity data is The game program according to claim 13, wherein it is determined that the condition is satisfied.   The game program according to claim 14, wherein the movement control unit further controls a moving direction of the object based on the acceleration data. As an acceleration storage means for sequentially storing the acceleration data, the computer is further functioned,
The movement control means uses the time when the determination means determines that the angular velocity data satisfies the predetermined condition as a determination time, and sets a predetermined length period before the determination time as the predetermined period. The game program according to claim 14, wherein the moving speed of the object is controlled based on acceleration data stored by the included acceleration storage means.   The game program according to claim 19, wherein the movement control unit controls the movement speed of the object based on a magnitude of a maximum acceleration among acceleration data included in the predetermined period.   The game program according to claim 20, wherein the movement control means further controls the movement speed of the object according to the attitude of the input device at the time of the determination calculated based on the angular velocity data.   The game program according to claim 20, wherein the movement control means further changes the moving speed of the object based on the acceleration data acquired after the determination time.   The movement control means indicates the acceleration data acquired after the determination when the magnitude of the acceleration indicated by the acceleration data acquired after the determination is larger than the maximum value of the acceleration during the predetermined period. The game program according to claim 22, wherein the moving speed of the object is further changed based on a magnitude of acceleration.   The movement control means injects the object in the game space in a predetermined direction when the angular velocity data satisfies the predetermined condition, and based on acceleration data acquired at or before the injection of the object. 14. The moving speed of the object immediately after the injection is determined, and the moving speed of the object immediately after the injection is corrected based on acceleration data newly acquired in a certain period immediately after the injection of the object. Game program.

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