JPH1145350A - Method and device for deciding collision of three-dimensional moving body and recording medium where collision decision program is recorded - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a collision decision device for a three-dimensional moving body which can decide fast that arbitrary bodies collide against each other. SOLUTION: A coordinate converting means 1 converts local coordinates of respective bodies into world coordinates and stores the converted coordinates in a body coordinate storage means 2. A Z sorting means 3 stores the model numbers of the respective bodies in a space in a Z sort table storage means 4 according to a Z value stored in the body coordinate storage means 2. A moving path generating means 5 calculates the movement paths of object moving bodies of collision decision making from the stored coordinates in the body coordinate storage means 2. A collision decision means 6 decides that the moving body collides against another body within the Z value range wherein there is collision probability. An image generating means 7 generates a three- dimensional image according to the found data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a virtual reality (V) system for real-time walk-through of the interior of a building or outer space.
An R (virtual reality) device is used to determine whether a moving object such as a viewpoint collides with an obstacle, or to determine a collision between moving objects in a game.
The present invention relates to a collision determination device for a three-dimensional moving object, a collision determination method thereof, and a recording medium on which a collision determination program is recorded.

[0002]

2. Description of the Related Art Real-time walkthrough used in VR (Virtual Reality) is a technique for displaying an animation of a three-dimensional image generated from several frames to several tens of frames per second by a computer according to the viewpoint position. This technology is effective in the fields of presentation of objects and games. As one of the methods for realizing a natural real-time walk-through, there is a collision determination for determining a wall or the like that cannot pass through in the real world. The collision determination is used in a game or the like, and a simulation of a race or a fight is performed by determining the collision between objects.

[0003]

In a general collision determination, when a moving object moves in a space represented by three-dimensional data, it is determined that a moving path does not intersect with all obstacles in the space. For confirmation, a process of identifying each movement is performed. Accordingly, the collision determination requires a relatively long processing time, and the processing time becomes extremely long as the number of objects in the space increases.

[0004] Therefore, for example, Japanese Patent Application Laid-Open No. 7-105409.
As disclosed in Japanese Unexamined Patent Publication, there is a method for speeding up processing by limiting the movement route to two dimensions. However, in the case of vertical movement or rotation, it is not possible to freely perform real-time walk-through in a three-dimensional space.

Japanese Patent Application Laid-Open No. Hei 8-241434 discloses a technique for performing a high-speed collision determination between a concave object and a vertex of a convex object. The method determines collision in a three-dimensional space. It is a technique for simply detecting the presence or absence of a collision, and does not disclose how to process detailed collision information such as a collision point between a moving object and another object and its collision angle at a high speed. In order to create a more natural 3D graphics animation, it is necessary not only to determine whether objects collide with each other, but also to determine the collision point and collision angle. There is a problem that processing information takes time.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a three-dimensional moving object collision judging device, a collision judging method, and a recording medium on which the collision judging program is recorded, which can execute a collision judgment between arbitrary objects at high speed. . In addition, the present invention has a high processing speed, so that it is possible to not only detect the presence or absence of a collision but also to obtain more detailed collision information by high-speed processing and obtain the collision information. And a recording medium on which the collision determination program is recorded.

[0007]

According to a first aspect of the present invention, there is provided an apparatus for judging a collision between a moving object and another object in real time.
Z sorting means for storing values in the Z sorting table storage means, moving path generating means for calculating the moving path of the moving object, and a Z value range in which the moving object may collide is determined from the Z value of the Z sorting means. And a collision determination unit configured to determine in advance a collision with a moving object based on the movement path calculated by the movement path generation unit for an object within the range.

According to a second aspect of the present invention, there is provided the apparatus for judging a collision of a three-dimensional moving object according to the first aspect, wherein the Z value range is set according to the speed of the moving object.

According to a third aspect of the present invention, there is provided the collision determining apparatus for a three-dimensional moving object according to the first or second aspect, wherein the collision determining means comprises a simple collision determining means and a detailed collision determining means. By means, we determine the possibility of a moving object colliding, and only for objects that are likely to collide,
It is characterized in that the detailed collision determination means makes a detailed determination.

According to a fourth aspect of the present invention, there is provided the collision determining apparatus for a three-dimensional moving object according to the first or second aspect, wherein the collision determining means includes a simple collision determining means and a detailed collision determining means. Switching means for switching between the means and the detailed collision determination means.

According to a fifth aspect of the present invention, in the method for judging a collision between a moving object and another object in real time, the Z value of the object in space is stored in a Z sort table storage means. Calculating a moving path of the moving object, presetting a Z value range in which the moving object may collide with the Z value of the Z sorting means, and performing collision determination on objects within the range. I do.

A sixth aspect of the present invention is the method for judging a collision of a three-dimensional moving object according to the fifth aspect, wherein the Z value range is set according to the speed of the moving object.

According to a seventh aspect of the present invention, there is provided the method for judging a collision of a three-dimensional moving object according to the fifth or sixth aspect, wherein the collision is determined by a simple collision judgment to determine the possibility of the moving object colliding. It is characterized in that a detailed collision determination is performed only for an object that is highly likely to be performed.

According to an eighth aspect of the present invention, there is provided the collision determination method for a three-dimensional moving object according to the fifth or sixth aspect, wherein the collision determination can be switched so that the collision determination can be performed by either a simple collision determination or a detailed collision determination. It is characterized by having.

According to a ninth aspect of the present invention, there is provided a recording medium storing a three-dimensional moving object collision judging program for judging a collision between a moving object and another object in real time. The moving path of the moving object is calculated in a storage means, a Z value range in which the moving object may collide is set in advance from the Z value of the Z sorting means, and a collision determination is performed on an object in the range. It is characterized by performing.

According to a tenth aspect of the present invention, there is provided a recording medium storing the three-dimensional moving object collision determination program according to the ninth aspect, wherein the Z value range is set according to the speed of the moving object. I do.

According to an eleventh aspect of the present invention, there is provided a recording medium on which the program for judging a collision of a three-dimensional moving object according to the ninth or tenth aspect is recorded. Characteristic is determined, and a detailed collision determination is performed in detail only for an object that is likely to collide.

According to a twelfth aspect of the present invention, there is provided a recording medium storing the three-dimensional moving object collision determination program according to the ninth or tenth aspect, wherein the collision determination can be performed by either a simple collision determination or a detailed collision determination. It is characterized by being able to switch as described above.

According to the present invention, in order to generate three-dimensional computer graphics, the output result of a commonly used Z sort is used to generate a Z
By setting the value range, collision determination with an object that does not clearly collide is not performed. Therefore, the speed of the collision determination process is increased,
The overall processing speed can be increased. In the present invention, collision determination is performed not only in the two-dimensional space but also in the three-dimensional space. Therefore, not only the two-dimensional space but also the real-time walk-through in the three-dimensional space can be freely performed. Can be determined. In addition, the collision determination using the output result of the Z sort is performed by using a detailed collision determination with heavy processing and a simple collision determination with light processing, so that an object that does not need to make a collision determination clearly with a simple collision determination. The collision can be eliminated, and as a result, the number of times of performing detailed collision determination is reduced, so that the collision determination can be performed at higher speed.

[0020]

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

<First Embodiment> FIG. 1 shows a third embodiment according to the present invention.
It is a functional block diagram showing a 1st embodiment of a collision judging device of a three-dimensional moving object. This collision determination device includes a coordinate conversion unit 1, an object coordinate storage unit 2, a Z sort unit 3, a Z sort table storage unit 4, a movement route generation unit 5, a collision determination unit 6, an image generation unit 7, Consists of

The coordinate conversion means 1 converts the local coordinates of each object into world coordinates, and stores the converted coordinates in the object coordinate storage means 2. Each object is given a model number, and the model number and the object correspond one-to-one. The Z sort means 3 stores the model number of each object in the space in the Z sort table storage means 4 according to the Z value stored in the object coordinate storage means 2. The Z sort table is indexed and can store a model number. For example, a model number is stored by rounding the minimum value of the Z value of each object as an index of the Z sort table. The moving path generating means 5 calculates the moving path of the moving object to be subjected to the collision determination from the coordinates stored in the object coordinate storing means 2. The collision determination means 6
The collision determination of the moving object with another object, the collision point and the collision angle are calculated from the moving path, the object coordinates and the minimum value of the Z value,
The position after the movement is determined, and the collision is determined. The image generating means 7 generates a three-dimensional image based on the obtained data.

In an application in which the object moves in the space only in front of itself, the minimum value of the Z value of each object can be used. It is particularly effective because it is clear that the distance is more than the distance of.

Next, a specific example will be described. FIG. 2 is an explanatory diagram illustrating an example of a three-dimensional space in which objects are arranged. In this three-dimensional space, as shown in FIG. 2, a plurality of rectangular parallelepiped objects are arranged, and collision determination of a moving path (arrow in the figure) with a moving object (black circle in the figure) is performed. FIG. 3 shows an example of the Z sort table in this case. As shown in FIG. 3, each model number is stored in the Z sort table for each object in FIG.

Since the position of the moving object changes continuously, the moving object does not collide with an object farther than a certain value from the Z value of the moving object. (Z values of the moving object ± δ, δ are appropriate values) and collision determination. This collision range is indicated by oblique lines in FIG. Objects (20, 32, 4) in this collision area
5, 76), it is sufficient to make a collision determination, so that the number of determinations can be reduced. As a result, the speed of the entire system is increased.

The collision between a moving object and each object is determined as follows. FIG. 4 is an explanatory diagram showing a method of calculating an intersection between a rectangular parallelepiped object and a moving object, and the description will be given with reference to this figure.
The intersection of the straight line connecting the two points P1 and P2 and the rectangular parallelepiped is obtained. For simplicity, the figures are two-dimensional. FIG. 4A shows world coordinates, and a rectangular parallelepiped has one of its vertices as its origin.
e1, e2, and e3 (e3 is not shown) are vectors obtained by normalizing the side vectors of the rectangular parallelepiped. M for converting each side in a rectangular parallelepiped into a prescribed vector (M = [e1, e2, e3])
Asking, seeking M ^T for transforming each point on in the rectangular coordinates (local coordinates), as shown in FIG. 4 (b), it is converted to the local coordinate. Points P1 and P2 become points P1a and P2a,
Vectors e1, e2, e3 are vectors e1a, e2a,
e3a.

The size of each side of the rectangular parallelepiped is lx, ly, lz
It is determined whether or not the intersection has Pa at x = 0, lx, y = 0, ly, z = 0, lz. If there is an intersection Pa, the intersection Pa and the corresponding normal vector na are calculated as follows:
The coordinates are converted into world coordinates by M (FIG. 4C), and an intersection P and a normal n are obtained.

That is, the movement vector from the point before the movement of the moving object to the point obtained by adding the speed of the moving object to the point before the movement, and the collision point with each object are obtained by defining each side of each object as a unit vector. That is, after performing such a conversion, it can be obtained by performing an inverse conversion. This is performed for objects within a certain range of the Z sort table. Collision determination means 6
Thus, the determination as to whether or not a collision occurs is performed in this manner. Here, a rectangular parallelepiped object is used as the object, but it is clear that it is effective to use the result of Z-sorting when determining a collision with another shape.

In the above-described embodiment, the Z value ± δ of the moving object is set as the range when referring to the Z sort table. As shown in FIG. 5, when δ is a value set according to the speed of the moving object, that is, a Z value of the speed of the moving object, the number of objects referred to from the Z sort table is minimized according to the speed of the moving object. And the collision determination can be performed at higher speed. Due to the calculation error of the collision determination and the like, there is a possibility that the object other than the object within the Z value of the moving object and the Z value of the speed of the moving object may collide with the Z value of the moving object. Not only the addition of the speed but also another method determined by the position and the speed of the moving object may be used.

<Second Embodiment> When obtaining the intersection between the object referred to from the Z sort table and the movement vector of the moving object, for example, after performing a simple collision determination for determining only the presence or absence of a collision, By performing the detailed collision determination for obtaining the collision point and the collision angle, the collision determination can be performed at a higher speed. FIG. 6 shows a functional block diagram at this time. The collision determination device according to the second embodiment includes a simple collision determination unit 8 and a detailed collision determination unit 9 instead of the collision determination device 6 in FIG.

The simple collision determining means 8 determines, for example, whether the point after the movement is included in another object. FIG. 7 is an explanatory diagram showing the simple collision determination. FIG.
It is two-dimensional for simplicity. Here, P is a movement vector of a moving object, and E1, E2, E3, and E4 are side vectors of a rectangular parallelepiped.

In order to check whether or not a point is in a rectangular parallelepiped, first, one point in the rectangular parallelepiped is translated in parallel to the origin (see FIG. 7A). The rectangular parallelepiped object to be determined is divided into two opposing portions each including three adjacent surfaces, and it is determined whether the object is inside each portion (FIG. 7).
(See (b) and (c)). The object whose collision has been surely determined by the simple collision determination means 8 is determined by, for example, the detailed collision determination means 9 by a method as shown in FIG. The simple collision determination means that performs the processing as shown in FIG. 7 operates at about 100 times the detailed collision determination means as in FIG. 4, and can increase the speed of the entire system.

As a matter of course, as a simple collision judgment,
Instead of determining only the presence / absence of a collision, a determination of determining a collision probability may be used. Further, the collision determination may be not only two of the simple collision determination and the detailed collision determination, but may be a combination of three or more collision determinations.

<Third Embodiment> The switching means 10
By using only the simple collision determination means 8,
Only the detailed collision determination means 9 can be used. FIG.
Is a third example of the three-dimensional moving object collision determination device according to the present invention.
It is a functional block diagram showing an embodiment. For example, when the processing speed of the simple collision determination unit 8 is high, but the accuracy is not always high, if there is a margin in the processing speed of the entire system, only the detailed collision determination unit 9 may be used, or the load of the entire system may be reduced. When the value is high, the collision point and the collision angle may be substituted by, for example, a certain fixed value, or by using a random number or the like, using only the simple collision determination means 8.
Naturally, the simple collision judging means 8 and the detailed collision judging means 9
The above-described operation can be performed by using.

[0035]

According to the first, fifth and ninth aspects of the present invention, a Z value range in which a moving object may collide is set in advance from the Z value of the Z sorting means, and the object within the range is collided. Since the determination is performed, the collision determination is performed only with the object near the Z value of the moving object without performing the collision determination with all the objects in the space. Therefore, it is possible to speed up the collision determination regardless of the number of objects in the space. Usually, a device for generating a three-dimensional computer graphic in real time is provided with a means for performing Z-sorting. Therefore, in this method, it is possible to speed up collision determination without newly increasing the load on the entire device. Can be.

In the invention of claims 2, 6 and 10,
By changing the Z value range according to the moving speed of the moving object,
Since the number of the Z sort data to be referred to can be reduced to the minimum, the collision determination can be performed at higher speed.

In the third, seventh and eleventh aspects of the present invention,
By using a detailed collision judgment with heavy processing and a simple collision judgment with light processing for collision judgment using the output result of Z sort, objects that do not need to make a collision judgment clearly by simple collision judgment are eliminated. As a result, the number of times of performing detailed collision determination is reduced, so that the collision determination can be performed at higher speed.

In the invention of claims 4, 8 and 12,
Since the detailed collision determination and the simple collision determination can be switched as necessary, for example, when processing is performed using a simple collision determination unit with low accuracy, when there is room in the processing of the entire apparatus, Detailed collision determination can be performed for a necessary object. Then, the processing time of the entire apparatus can be reduced, and the processing can be speeded up.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing a first embodiment of a three-dimensional moving object collision determination device according to the present invention.

FIG. 2 is an explanatory diagram illustrating an example of a three-dimensional space in which objects are arranged.

FIG. 3 is an explanatory diagram illustrating an example of a Z sort table.

FIG. 4 is an explanatory diagram showing a method of calculating an intersection between a rectangular parallelepiped object and a moving object.

FIG. 5 is an explanatory diagram showing an example of a three-dimensional space representing a reference range based on a moving speed.

FIG. 6 is a functional block diagram illustrating a second embodiment of the three-dimensional moving object collision determination device according to the present invention.

FIG. 7 is an explanatory diagram showing simple collision determination.

FIG. 8 is a functional block diagram showing a third embodiment of the three-dimensional moving object collision determination device according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Coordinate conversion means 2 Object coordinate storage means 3 Z sort means 4 Z sort table storage means 5 Moving path generation means 6 Collision judgment means 7 Image generation means 8 Simple collision judgment means 9 Detailed collision judgment means 10 Switching means

Claims (12)

[Claims] 1. A three-dimensional moving object collision judging device for judging a collision between a moving object and another object in real time, comprising: a Z sorting means for storing a Z value of an object in space in a Z sort table storing means; Moving path generating means for calculating a moving path of the moving object; and a Z value range in which the moving object may collide is set in advance from the Z value of the Z sorting means. A collision determination unit configured to determine a collision with the moving object based on the movement route calculated by the generation unit. 2. The apparatus according to claim 1, wherein the Z value range is set according to the speed of the moving object. 3. The collision judging means comprises a simple collision judging means and a detailed collision judging means. The simple collision judging means obtains a possibility of a moving object colliding, and determines only details of an object having a high possibility of colliding. The apparatus according to claim 1, wherein the collision determination unit makes a detailed determination. 4. The apparatus according to claim 1, wherein said collision determination means comprises a simple collision determination means and a detailed collision determination means, and further comprises switching means for switching between the simple collision determination means and the detailed collision determination means. 2
3. The collision determination device for a three-dimensional moving object according to claim 1. 5. A method for judging a collision between a moving object and another object in real time, wherein a Z value of an object in space is stored in a Z sort table storage means, A three-dimensional moving object, wherein a moving path is calculated, a Z value range in which the moving object may collide is set in advance from the Z value of the Z sorting means, and collision is determined for objects within the range. Collision determination method. 6. The method according to claim 5, wherein the Z value range is set according to the speed of the moving object. 7. The collision determination method according to claim 1, wherein the possibility of collision of the moving object is obtained by a simple collision determination, and only the object having a high possibility of collision is determined in detail by a detailed collision determination. Item 7. The method for judging collision of a three-dimensional moving object according to item 5 or 6. 8. The method for determining a collision of a three-dimensional moving object according to claim 5, wherein switching can be performed so that the collision determination can be performed by either a simple collision determination or a detailed collision determination. 9. A storage medium storing a three-dimensional moving object collision determination program for determining a collision between a moving object and another object in real time, wherein the Z value of the object in space is stored in a Z sort table storage means. Calculating a moving path of the moving object, presetting a Z value range in which the moving object may collide with the Z value of the Z sorting means, and performing collision determination on objects within the range. Recording medium storing a three-dimensional moving object collision determination program. 10. The recording medium according to claim 9, wherein the Z value range is set according to the speed of the moving object. 11. The collision determination device according to claim 1, wherein the possibility of collision of the moving object is determined by a simple collision determination, and a detailed collision determination is performed only for an object having a high possibility of collision. Item 11. A recording medium on which the program for judging collision of a three-dimensional moving object according to Item 9 or 10 is recorded. 12. The three-dimensional moving object collision determination program according to claim 9, wherein the collision determination can be switched so as to perform either a simple collision determination or a detailed collision determination. Recording medium.