KR100778310B1 - Apparatus and Method for Detecting Collision in Graphic System - Google Patents

Abstract

1. TECHNICAL FIELD OF THE INVENTION

The present invention relates to an apparatus and method for processing collision information in a graphics system.

2. The technical problem to be solved by the invention

The present invention transforms the coordinates loaded at the beginning of the collision process using coordinate transformation information to reuse the loaded geometry information and uses the geometry to collide points between the main object figure and the subordinate object figure (Collision Point), Collision depth and collision depth (T-Value) can be obtained at the same time, but the collision depth is updated according to the comparison result with the previously stored collision depth to support collision processing between various objects. An object of the present invention is to provide an apparatus and method for processing collision information in a graphics system that can be obtained quickly and easily.

3. Summary of Solution to Invention

According to an aspect of the present invention, in a collision information processing apparatus in a graphics system, geometric information of a main object figure and geometric figure of a subordinate object figure input from the outside are loaded and collide with the geometric information of the main object figure and the main object figure. Collision object information storage means for outputting geometric information of a plurality of corresponding object figures to be processed; Collision object information converting means for converting coordinates of the slave object figure to conform to a coordinate system based on the main object figure; According to the collision processing calculation method determined by the geometric information characteristic of the main object figure and the subordinate object figure, the main object using the geometric information of the input main object figure and the geometric information of each of the subordinate target figures converted into coordinates Collision information arithmetic processing means for simultaneously obtaining a collision point, a collision, and a depth of collision between a figure and the subject figure; Collision information storage means for storing the collision point, the presence or absence of the collision depth, and the collision depth, and allocates two storage areas to store the collision depth before and after the update; And the collision point and the presence or absence of the collision point are updated whenever the collision point and the collision state are newly output from the collision information calculation processing means, and the collision depth is updated according to a comparison result with the previously stored collision depth. Including.

4. Important uses of the invention

The present invention is used for collision information processing in a graphic system.

Collision handling, Graphics system, Collision handling engine, Update engine, Target object, Target object, Geometry, Identification number, Template information, Collision point, Collision presence, Collision depth

Description

Apparatus and Method for Detecting Collision in Graphic System

1A and 1B are diagrams illustrating an embodiment of an apparatus for processing collision information in a graphic system according to the present invention;

2 is a diagram illustrating an embodiment of a graphic system for physics simulation using a collision information processing apparatus according to the present invention;

3 is a diagram illustrating an embodiment of graphics processing hardware including a Z buffer test and a light trace during a collision check in accordance with the present invention;

4 is a diagram illustrating an embodiment of an optical tracking graphic system including light tracking or collision between a light source and a polygon during collision inspection according to the present invention;

FIG. 5 is a flowchart illustrating a collision processing procedure based on a function selection signal and an input information valid signal in the collision information calculating unit of FIG. 1A according to the present invention; FIG.

6 is a flow chart of an embodiment of a comparison process in the collision depth comparison unit of FIG. 1B according to the present invention;

7A and 7B are flowcharts of an embodiment of a collision information updating process in the collision information updating unit of FIG. 1B according to the present invention;

8A is an explanatory diagram of a collision processing output process in a conventional collision processing engine;

FIG. 8B is a diagram illustrating an embodiment of a collision processing output process in the collision information calculating unit of FIG. 1A according to the present invention; FIG.

9A is an explanatory diagram of a conventional collision depth and update process of template information;

9B is an exemplary explanatory diagram for updating a collision depth and template information according to the present invention;

10A is an explanatory diagram for updating the presence or absence of a collision and a collision object identification number;

Figure 10b is an embodiment explanatory diagram for the process of updating the presence and absence of the collision identification number according to the present invention,

11A is an explanatory diagram for a conventional process of updating the collision depth and the template information;

11B is a diagram illustrating an embodiment of a process of updating collision depth and template information of different frames according to the present invention;

12 is a diagram illustrating an example of a recording sequence of a collision information storage unit according to the present invention.

* Explanation of symbols on the main parts of the drawing

11: collision object information storage unit 12: collision object information conversion unit

13: collision information processing unit 14: collision information updating unit

150: collision information storage 111: geometry information storage

121: coordinate transformation unit 131: collision processing unit

141: collision depth comparison unit 142: calculation result update unit

156: collision existence / identification number storage unit 157: first collision depth / template information storage unit

158: second collision depth / template information storage unit

The present invention relates to an apparatus and method for processing collision information in a graphic system. More particularly, the geometric information loaded at the beginning of collision processing is transformed using coordinate transformation information to reuse the loaded geometric information, Using the information, the collision point, collision, and T-value between the main object and the target object can be obtained at the same time, while the collision depth is updated according to the comparison result with the stored collision depth. The present invention relates to an apparatus and method for processing collision information in a graphics system that supports collision processing between various objects and enables to quickly / easily obtain a collision point, existence of collision, and depth of collision.

General overlapping information (collision information) is information in which one space is occupied by a single object or at least one or more objects. The overlapping information from another point of view is information calculated through calculation of determination information on whether the object is violated by another object, that is, collision detection.

Conventional collision detection techniques include a collision inspection technique using a tree traversal method, a collision inspection technique using a Z buffer, and the like. Hereinafter, a brief description of the prior art and the problems thereof are as follows.

Conventional collision detection techniques include collision traversal techniques using a tree traversal method, which creates a hierarchical tree structure by dividing the bounding box that surrounds an object into smaller bounding boxes to create a hierarchical tree structure. This is to check for collision between axis alignment bounding boxes by following.

However, the prior art divides an object into bounding boxes to effectively check collision detection of static objects using a hierarchical tree structure. For dynamic objects, the bounding box is recalculated and hierarchical whenever the state of an object changes. The problem was that the structure had to be restructured.

Another conventional collision detection technique is a collision detection technique that compares depth values through a Z-buffer, which compares the current Z depth information stored in the collision inspection unit with the current Z depth information. It is to judge the collision.

However, such a prior art has a problem in that it is difficult to obtain only whether a collision is a result of a simple collision or not, a collision point, a collision point and a collision depth.

The present invention has been proposed to solve the above problems, by converting the coordinates of the geometric information loaded at the beginning of the collision process using coordinate transformation information to reuse the loaded geometric information and using the geometric information and the main target figure and species. Supports collision processing between various objects by simultaneously obtaining collision points, collisions, and T-values between target figures, and updating the collision depths according to comparison results with previously stored collision depths. It is an object of the present invention to provide an apparatus and method for processing collision information in a graphic system, which enables to quickly / easily obtain a collision point, a collision presence, and a collision depth.

Other objects and advantages of the present invention can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. It will also be appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

In order to achieve the above object, the present invention provides a collision information processing apparatus in a graphic system, comprising: loading geometric information of a main object figure and geometry information of a slave object figure inputted from the outside; Collision object information storage means for outputting geometric information of a plurality of corresponding object figures to be subjected to a collision processing operation with the main object figure; Collision object information converting means for converting coordinates of the slave object figure to conform to a coordinate system based on the main object figure; According to the collision processing calculation method determined by the geometry information characteristics of the main object figure and the subordinate object figure, the main object using the geometric information of the input main object figure and the geometric information of each of the subordinate target figures converted into coordinates Collision information calculation processing means for simultaneously obtaining a collision point, a collision, and a depth of collision between a figure and the subject object figure; Collision information storage means for storing the collision point, the presence or absence of the collision depth, and the collision depth, and allocates two storage areas to store the collision depth before and after the update; And the collision point and the presence or absence of the collision point are updated whenever the collision point and the collision state are newly output from the collision information calculation processing means, and the collision depth is updated according to a comparison result with the previously stored collision depth. It includes.

On the other hand, the present invention, in the collision information processing method in the graphics system, the geometric information of the main object figure and the geometry of the subordinate object figure input from the outside is loaded, the geometric information of the main object figure and the main object figure And a collision object information storage step of outputting geometric information of a plurality of corresponding object figures to be subjected to a collision processing operation; A collision object information converting step of converting coordinates of the slave object figure to correspond to a coordinate system based on the main target figure; According to the collision processing calculation method determined by the geometry information characteristics of the main object figure and the subordinate object figure, the main object using the geometric information of the input main object figure and the geometric information of each of the subordinate target figures converted into coordinates A collision information operation processing step of simultaneously obtaining a collision point, a collision, and a depth of a T-value between a figure and the slave object figure; A collision information storage step of storing the collision points, the existence of collisions, and the collision depths, and separately storing the collision depths before and after updating by allocating two storage areas; And the collision point and the presence or absence of the collision point are updated each time the collision point and the collision state are newly output in the collision information calculation processing step, and the collision depth is updated according to a comparison result with the previously stored collision depth. Include.

Nesting information calculation or collision tracking (hereinafter collision checking) has a parallel processing property. When there are N objects, n × n collision checking operations are performed, and these operations can be processed simultaneously independently without considering interdependencies.

According to the present invention, when the collision tracking is implemented in hardware, the minimization of data exchange between dedicated hardware and CPU, maximization of reusability for data loaded in dedicated hardware, maximization of reusability for the result calculated by dedicated hardware, It is to solve the design issue of minimizing the bottleneck in the result storage step calculated by the method.

The above objects, features and advantages will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, whereby those skilled in the art may easily implement the technical idea of the present invention. There will be. In addition, in describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1A and 1B are diagrams illustrating an embodiment of a collision information processing apparatus in a graphic system according to the present invention. Here, FIG. 1A and FIG. 1B shown in two drawings are configuration diagrams connected to each other. That is, A of FIG. 1A, A 'of FIG. 1B, B' of FIG. 1A, B 'of FIG. 1B, C of FIG. 1A, and C' of FIG. 1B are connected, respectively.

As shown in FIGS. 1A and 1B, the collision information processing apparatus in the graphic system includes a collision object information storage unit 11, a collision object information conversion unit 12, a collision information calculation processor 13, and collision information update. The unit 14 and the collision information storage unit 15 is made.

The collision object information storage unit 11 includes a geometry data buffer 111, a secondary geometry address addressing register 112, a memory controller 113, and a geometry object information file. A register (Secondary_data_register_file) 114, a main object figure information file register (Primary_data_register_file) 115, and a count register (Count_register) 116 are included.

The geometric information storage unit 111 loads geometric information of the target object figure in the initial process of collision processing from the outside in order to minimize data exchange between the dedicated hardware and the CPU. Such geometric information refers to geometric information that does not change during a collision operation. The geometric information storage unit 111 stores data that is repeatedly used in the calculation process so that the geometric information storage unit 111 does not undergo an iterative upload process after the geometric information is loaded in dedicated hardware at the beginning of the application program.

The slave target figure addressing register 112 stores an addressing register value for the geometric information of the slave figure loaded in the geometry information storage 111.

The memory control unit 113 performs a plurality of collision processing operations with the main target figure from the geometry information storage unit 111 based on the addressing register value of the target figure stored in the target figure addressing register 112. Performs a function to read the geometry of the subject object.

The slave target figure information file register 114 stores geometric information of the slave figure retrieved from the geometry information storage 111. In this information call process, the geometry storage unit 111 stores geometric information of the target object figure, thereby minimizing data exchange due to the information call process and reducing the waiting time of dedicated hardware for data supply and loading. This is to minimize the data exchange between them.

The main object graphics information file register 115 loads geometric information of the main object graphics from the outside. The main object figure information file register 115 stores an information file related to the main object figure corresponding to the first object among collisions between two objects.

The number register 116 stores the number of main object figures and the number of subordinate object figures. The number of collision operations is obtained by multiplying the number of object shapes. Nested information calculation or collision tracking (hereinafter collision checking) has a computational attribute that can be processed in parallel. When there are N objects, n × n collision checking operations must be performed. These operations can be processed simultaneously independently without considering interdependencies. The number register 116 obtains the total number of collision operations by storing the number of object figures.

On the other hand, the collision object information conversion unit 12 includes a coordinate transform unit (Transformer) 121, the coordinate transformation information file storage unit (Transformation_register_file) 122.

The coordinate conversion unit 121 converts the coordinates of the slave object figure according to the coordinate system based on the main target figure according to the coordinate transformation information, and converts the geometric information of the coordinate target slave figure to the collision information calculation processor 13. Enter it. That is, in order to maximize reusability of the data loaded in the dedicated hardware, the coordinate conversion unit 121 has a plurality of objects on the object coordinate system in the world coordinate system. Copies an object and applies multiple objects copied on the world coordinate system. The coordinate transformation unit 121 is for reusing the plurality of pieces of object information when there are a plurality of pieces.

For example, chairs and desks in a classroom are the same objects on an object coordinate system, and there are a plurality of such chairs and desks in a space called a classroom (standard coordinate system). These chairs and desks are not handled separately, but by introducing a copy concept, it is possible to save the storage space of the geometric information storage unit 111 and improve the performance of hardware. Instead of storing a plurality of chair data separately, only single chair data is stored in the geometry storage unit 111 and coordinate transformation is applied to maximize reusability of the loaded data.

The coordinate transformation information file storage unit 122 receives and stores coordinate transformation information for converting the coordinates of the slave object figure in accordance with the coordinate system based on the main target figure for conversion by the coordinate transformation unit 121 from the outside. . For example, consider the case where a triangle represents a person's arm. This triangle moves spatially as the person walks or moves the arm. Coordinate transformation unit 121 exists for spatial processing, and information stored in the target object figure information file register 114 is transferred to the coordinate transformation unit 121. In this case, the coordinate conversion information file storage unit 122 stores basic values for coordinate transformation, that is, coordinate transformation information (for example, movement information or rotation information), and then transfers the coordinate transformation information to the coordinate transformation unit 121. do.

The collision information operation processor 13 may include a collision detection operation unit (Collision detection engine) 131, a collision point register (CP_register) 132, a collision existence register (F_register) 133, and a collision depth register (T_register) 134. Include. In brief, the collision information calculation processing unit 13 performs geometric processing of the input main target figure and the coordinate target transformation of each target figure according to the collision processing calculation method determined by the geometry information characteristics of the main target figure and the target figure. Using the geometric information of, the collision point (Collision Point), the collision (Flag) and the collision depth (T-Value) between the main object and the target object are simultaneously obtained.

The collision processing operation unit 131 is a function selector for the geometric information of the main target figure loaded from the main target figure information file register 115 and the geometric information of the subordinate target figure converted from the coordinate transformation unit 121. Determine the collision handling method through. The collision processing unit 131 performs a collision information processing operation using the determined collision processing method, a collision point for a collision point between objects, a collision for whether a collision has occurred, a flag, a collision between collision objects, and the like. Outputs the collision depth (T-Value) of the overlapping degree.

The function selector signal input at the time of collision inspection is for configuration information about the main object figure and the subordinate object figure to be input. The collision processing operation unit 131 determines the collision processing calculation method required for collision inspection by grasping the configuration of the geometric information of the object shape input based on the function selection signal.

Due to the nature of the hardware, the data read from the memory reaches the collision processing unit 131 after a predetermined time. Therefore, the input information valid signal Input_data_valid performs a function of checking whether the current input value is valid data.

In addition, the collision processing unit 131 outputs a valid value after a predetermined time according to the collision processing target, and outputs an output information valid signal Output_data_valid to inform whether the signal output from the collision information inspecting unit 13 is valid.

Collision operation output value should be compared with previously stored value. The collision processing unit 131 outputs a collision depth preceding patch signal T_prefatch and thus a delay time occurs in reading an existing value, thus performing a function of reading a previously stored value.

The collision point register 132, the collision existence register 133, and the collision depth register 134 respectively store the collision point result, the new collision existence result, and the new collision depth result checked by the collision processing operation unit 131.

The collision information update unit 14 includes a collision depth comparator 141, an operation result update unit 142, an identification start value register (Start_position_register) 143, and an identification number increase / decrease register (Inc_register). 144, an identification number generator 145. In brief, the collision information update unit 14 updates the collision point and the presence or absence of the collision every time the collision point and the collision state are newly output from the collision information calculation processing unit 13, and the collision depth is the same as the previously stored collision depth. Update according to the comparison result.

The collision depth comparison unit 141 reads the previous collision depth result previously stored and compares the result with the new collision depth result stored in the collision depth register 134 according to the comparison mode. For example, the comparison mode may be less than, less than or equal, equal, not equal, greater than, or greater depending on the compare mode selection signal. greater than or equal).

The arithmetic result update unit 142 updates the collision point and the presence or absence of the collision every time a collision point and the presence of the collision are newly output from the collision information calculation processing unit 13, and the collision depth is a pre-stored collision in the collision depth comparison unit 141. Update according to the result of comparison with depth. That is, the collision depth comparison unit 141 stores the three calculation results according to the comparison result in the corresponding storage unit to update the comparison result. The calculation result update unit 142 is a previous collision point is the output collision point, the previous collision and the collision target identification number is the generated collision target identification number and the output collision presence, the previous collision depth The collision depth corresponding to the result of the comparison is updated.

In addition, the calculation result update unit 142 stores only some of the three calculation results according to the individual storage selection signal (Buffer enabler) when it is desired to store only some of the three calculation results.

The identification start value register 143 specifies the initial value of the collision target identification number (Index). Here, the collision object identification number is stored together with the result of collision.

The identification number increase / decrease register 144 specifies whether the collision target index (index) increases or decreases, and specifies whether to store the value increased by 1 or the same value each time the operation result is stored.

The identification number generation unit 145 receives the initial value of the collision object identification number specified from the identification start value register 143, according to the presence or absence of the collision object identification number specified in the identification number increase or decrease register 144, the collision object identification number Create The identification number generation unit 145 transmits the generated collision object identification number to the calculation result update unit 142.

The collision information storage unit 15 stores the collision point, the presence or absence of the collision, and the depth of collision, and stores the collision information, the first memory controller 151, the second memory controller 152, the third memory controller 153, A fourth memory control unit 154, a collision point storage unit (CP buffer) 155, a collision existence / identification number storage unit (F & Index buffer) 156, a first collision depth / plate information storage unit (Stencil & T buffer 0) ( 157), a second collision depth / template information storage unit (Stencil & T buffer 1) 158, and a storage location register (159).

In brief, the collision information storage unit 15 has a storage unit 155 to 158 for the collision point, the presence of collision, and the depth of collision in the system in order to maximize the reusability of the result calculated by the dedicated hardware. exist. Since the buffers 155 to 158 and the collision depth comparison unit 141 exist, it is possible to reapply the iterative operation on the calculated result.

In addition, the collision information storage unit 15 stores the collision point, the presence or absence of the collision, and the depth of collision, two storage areas (first collision depth / template information storage unit 157, second collision depth / template information storage Section 158) so that the collision depth before and after the update is stored separately.

The first memory control unit 151, the second memory control unit 152, the third memory control unit 153, and the fourth memory control unit 154 may include the collision point result updated by the operation result update unit 142, the collision presence result, The collision depth result is controlled to be stored in the storage units 155 to 158.

The collision point storage unit 155 receives the collision point from the operation result update unit 142 and stores the collision point.

The collision existence / identification number storage unit 156 receives the collision existence / identification number from the operation result update unit 142 and stores it.

The first collision depth / template information storage unit 157 and the second collision depth / template information storage unit 158 store the collision depth results. Stored at or read from 1 and stored at 0, the selection is made by the collision depth result storage selection signal (T_buffer_selector).

Here, the first collision depth / template information storage unit 157 and the second collision depth / template information storage unit 158 store the results calculated by the dedicated hardware using the two collision depth storage units 157 and 158. Minimize bottlenecks in stages. If there is only one buffer related to the collision depth, two read / write operations are required for comparing and writing a new operation result and an existing result. Therefore, twice the operation speed is required for this read / write process. Since twice the speed of operation is not possible, in this case the performance computation must be reduced to half. However, the present invention allows two collision depth buffers to be used to compare and record new calculation results with existing data at the same operating speed.

The storage location register 159 stores the collision point result, the collision presence result, and the collision depth result about the storage location of the storage unit.

Hereinafter, a collision checking process of a line segment and a triangle will be described as an embodiment of the collision information processing method in the graphic system according to the present invention.

First, assuming a collision check between 10 line segments and 10 triangles, it is assumed that the front 10 lines are the main object shape and the back 10 triangles are the object shapes.

Ten pieces of geometric information are stored in the geometric information storage unit 111. The geometric information necessary for the collision check is loaded by the memory control unit 113 based on the value of the target figure addressing register 112 and stored in the target figure information file register 114.

If we consider a case where ten triangles represent a human's arm, these triangles move spatially as the person walks or moves the arm. For such spatial processing, a coordinate transformation unit 121 exists and the value of the target object figure information file register 114 is transmitted to the coordinate transformation unit 121. At this time, the basic value for the coordinate transformation, that is, how much moved and rotated, is transmitted to the coordinate transformation unit 121 through the coordinate transformation information file storage unit 122.

The ten pieces of geometric information are stored in the main object figure information file register 115, and the ten pieces of information are stored in the number register 116.

Then, the collision processing unit 131 performs collision processing operations on the first line segment and 10 triangles, and then sequentially performs collision processing operations on 10 triangles in the order of the second and third line segments. .

Although an embodiment targets a line segment and a triangle, the input target figure may be various shapes such as a cube and a triangular pyramid. The information about the dispatch target is transmitted to the collision processing operation unit 131 by the function selection signal. Then, the collision processing operation unit 131 determines the collision process by grasping the geometric information of the main object figure or the slave object figure according to the function selection signal.

Due to the nature of hardware, data read from the memory is input to the collision processing unit 131 after a predetermined time. Therefore, a signal indicating whether the currently input value is valid information is required. A signal for performing this function is an input information valid signal.

In addition, the collision processing operation unit 131 outputs a valid value after a predetermined time according to the collision processing target, and informs whether the signal output from the collision information inspection unit 13 is valid using the output information valid signal.

The collision calculation output value should be compared with the previously calculated and stored values. The collision depth prefetch signal is a signal to read the previously stored value because there is a delay time to read the existing value.

The collision processing unit 131 outputs a collision point result, a collision presence result, and a collision depth result and stores three calculation results in a corresponding register. The registers include a collision point register 132, a collision existence register 133, and a collision depth. Is the register 134.

The collision depth comparison unit 141 reads the collision depth previously stored and compares the collision depth with the collision calculation result. In the comparison mode, one comparison method is selected from among less than, less than, equal to, disagreeable, greater than or more than the comparison method selection signal.

According to the result of the collision depth comparison unit 141, three calculation results are stored in the corresponding buffers. If only some of the three calculation results are to be stored, they are stored individually according to the individual storage selection signal.

In addition, two buffers exist for the first collision depth / plate information storage unit 157 and the second collision depth / plate information storage unit 158. The collision information update unit 14 reads the existing collision depth from the first collision depth / plate information storage unit 157 according to the collision depth result storage selection signal, and compares the comparison result with the second collision depth / plate information storage unit 158. ) Or the existing collision depth is read from the second collision depth / template information storage unit 158 and stored in the first collision depth / template information storage unit 157. The storage location register also specifies the location of the buffer in which collision results are stored.

Here, the information stored together with the calculation result includes a collision information identification number and template information. The template information is a value transmitted to the collision depth comparison unit 141, and the collision information identification number is a value stored in a bundle with the collision depth. The initial value of the collision information identification number is designated by the identification start value register 143, and is designated by the identification number increase / decrease register 144 whether to store the value increased by 1 or the same value each time the operation result is stored. do. The collision object identification number is generated by an identification number generator 143 and transferred to the calculation result update unit 142.

Collision checking between objects is used for Z-buffer testing for displaying 3D graphic data, hardware for processing ray-tracing of a rendering system at high speed, and collision handling between objects in physics simulation. . Hereinafter, a graphic system, a graphics processing hardware, and an optical tracking graphic system for physics simulation using a collision check according to the present invention will be described with reference to FIGS. 2 to 4.

2 is an explanatory diagram of a graphics system for physics simulation including (or consisting of) collision checking in accordance with the present invention.

The physics law application process 20 includes collision detection 21, force accumulator 22, constraints dynamics solver 23, and state updater. (24), and calculates the collision, collision point, collision distance, etc. between the objects in the three-dimensional space using the collision check.

Detailed process 21 for checking whether there is a collision checks whether there is a collision (Determine collision) 211, and calculates a collision point when the collision is confirmed (Find collision point) 212. The reflection direction is then calculated (Reflection vector caculation) (213).

The detailed process 22 for the force accumulator includes the following methods: Colliding contact force 221, Resting contact force 222, Friction force calculation 223, Total force calculation 224 is performed in this order.

The detailed process (24) for the status updater includes linear / angular acceleration calculation (241), linear / angular velocity calculation (242), position and rotation information update (Position and rotation uptate) (243).

3 is an explanatory diagram of graphics processing hardware including a Z buffer test and ray-tracing during a collision check in accordance with the present invention.

The collision check using the graphic pipe is used for the Z-buffer test, and is efficiently calculated using the collision depth comparison unit 141 according to the present invention.

Graphics HW overview 30 includes a Geometry transform engine Fixed / progrmmable pipeline 31 and a Rasterizer Fixed / programmable pipeline 32. .

The detailed process (31) for fixed / programmable geometry transforms includes vertex transform (311), light per vertex calculation (312), masking unnecessary vertices (313), and projections. Projection 314 is performed in this order.

The detailed process (32) for the fixed / programmable point calculator (Triangle setup) (321), the depth interpolator (Z) (322), depth value comparison / point calculation (Z-test, pixel blend) 323 is performed in order.

4 is an explanatory diagram of a light tracking graphic system including light tracking or collision between a light source and a polygon during a collision test according to the present invention.

The light tracking graphic system performs a collision test between a light source and a polygon for a visibility test on lighting, and the collision detection engine of the present invention efficiently checks the collision between the light source and the polygon. can do.

Ray tracing HW overview 40 includes a light source array, ray casting, ray-polygon intersection test 41, and shading 42.

The light source array, light source-polygon intersection test 41 includes Create ray for each pixel 411, Cast ray into scene 412, Cross Scene, Light Source- The polygon traverse and ray-polygon intersection test 413 and the find closest intersection 414 are performed in this order.

The details of the contrast (42) include finding U / V, determining the visibility of point light (422), and calculating the reflected / refractive light by iterative light tracking. / refracted light by recursively ray tracing) (423).

FIG. 5 is a flowchart illustrating a collision processing procedure according to a function selection signal and an input information valid signal in the collision information calculation processor of FIG. 1A according to the present invention.

Referring to the process of the function selection signal and the input information valid signal, as shown in FIG. 5, when the input information valid signal is input 502, the collision processing operation unit 131 is based on a function selected by the function selection signal. After a predetermined period, the output information valid signal and the collision depth preceding patch signal are activated (Activate) (504).

In contrast, the collision processing operation unit 131 deactivates the output information valid signal and the collision depth preceding patch signal after a predetermined period of the function selected by the function selection signal if the input information valid signal is not input 502 (506). ).

Looking at the data path process by the function selection signal, after the information related to the main object figure and the transformed slave object figure is input (512), the function selection signal is input to the de-multiplexer (De-MUX). . Then, the function 0, the function 1, and the function n-1 perform a collision check according to the input function selection signal (516) and multiplex the checked result in a multiplexer (MUX: Multiplexer) (518). The collision depth result is output (520).

FIG. 6 is a flowchart illustrating a comparison process in the collision depth comparison unit of FIG. 1B according to the present invention. FIG.

The collision depth comparison unit 141 reads the new collision depth New_T and the previous collision depth Old_T (602). Then, the collision depth comparison unit 141 selects the smallest value or the largest value among the collision depths determined by the collision processing operation unit 131 by changing the comparison method according to the comparison method selection signal (604). The comparison method selection signal is given as a signal from 0 to 3, and compares the new collision depth and the previous collision depth through functions corresponding to less than, less than, less than, more than, respectively (606, 612, 618, 624).

When the comparison method selection signal (Compare_mode) is selected (i.e., less than 0), the new collision depth is compared with the previous collision depth (606). If the new collision depth is less than the previous collision depth, the final collision depth is determined as the new collision depth (608). If the new collision depth is greater than or equal to the previous collision depth, the final collision depth is determined as the previous collision depth (610).

The same applies when the comparison method selection signal 1 is selected (hereinafter) 612, when the comparison method selection signal 2 is selected (greater than) (618), and when the comparison method selection signal 3 is selected (greater) (624). Apply.

Then, the final collision depth determined according to the comparison method selection signal is written to the collision depth buffer (630).

7A and 7B are flowcharts illustrating an embodiment of a collision information update process in the collision information update unit of FIG. 1B according to the present invention.

The operation result updater 142 updates the result value output from the collision information checker 13 to the memory and transfers the old value stored in the memory to the collision depth comparison unit 141. . Here, the operation of the operation result update unit 142 according to the individual storage selection signal, the output information valid signal, the collision depth preceding patch signal, and the collision depth result storage selection signal will be described with reference to FIG. 7.

First, the operation of the operation result update unit 142 according to the collision depth preceding patch signal and the collision depth result storage selection signal, when the collision depth preceding patch signal is input (702), checks whether the collision depth result storage selection signal is 0, It does not operate when the collision depth preceding patch signal is not input. When the collision depth result storage selection signal is 0, the collision depth is read from the second collision depth / plate information storage unit 158 and input to the collision depth comparison unit 141 (706). On the other hand, if the collision depth result storage selection signal is not 0, the collision depth is read from the first collision depth / plate information storage unit 157 and input to the collision depth comparison unit 141 (708).

Next, the operation of the operation result update unit 142 according to the output information valid signal and the collision depth result storage selection signal checks whether the output information valid signal is valid (712), and if the update valid signal (Update_flag valid) is valid, If it is not valid (714), it does not operate. Then, when the update valid signal is input, it is checked whether the collision depth result storage selection signal is 0 (716), and when the update valid signal is 0, the final collision depth result is stored in the first collision depth / template information storage unit 157 ( 718), if the collision depth result storage selection signal is not 0, the collision depth result is stored in the second collision depth / plate information storage unit 158.

Finally, the operation result update unit 142 according to the output information valid signal, the individual storage selection signal, the template information from the collision depth / template information storage unit checks whether the output information valid signal is valid (722). If it is determined that the template information is invalid (724), it does not operate when the output information valid signal is valid. If the template information is invalid, the collision calculation result (collision point, collision presence, collision depth) is checked whether each collision calculation result is allowed by the individual storage selection signal (726). (728) and if the collision operation result is not allowed, it does not operate.

8A is an explanatory diagram illustrating a collision processing output process in a conventional collision processing engine, and FIG. 8B is a diagram illustrating an example of a collision processing output process in the collision information calculating unit of FIG. 1A according to the present invention.

The conventional collision inspection engines 81 and 82 output only one result, as shown in FIG. 8A, and collide or not (Flag) 811 or collision depth result (T: in case). only one of the ray-tracing (812).

On the other hand, the collision processing unit 131 according to the present invention, as shown in Figure 8b, multiple outputs (Multiple output) the collision point result 831, the collision presence result 832, the collision depth result 832 And print it out together.

9A is an explanatory diagram of a conventional collision depth and template information update process, and FIG. 9B is a diagram illustrating an example of an update process of the collision depth and template information according to the present invention.

The conventional process of updating the input / output value is stored in the template information buffer 94 and the collision depth buffer 95 through separate memory controllers 92 and 93 corresponding to the template information and the collision depth, respectively. This storage structure reduces the hardware routing efficiency and causes the update process to proceed with a lower clock. That is, the update process is operated with low performance.

However, in the process of storing the collision depth result according to the present invention, since the template information and the collision depth result are combined and inputted and output by the operation result update unit 142, the first collision depth / plate information storage unit is transmitted through the third memory controller 153. Collision depth / template information is conveyed to the (157) to enable high performance.

10A is an explanatory diagram of a conventional collision and update process of a collision object identification number, and FIG. 10B is a diagram illustrating an embodiment of a collision process and update process of a collision object identification number according to the present invention.

The conventional process of updating the input / output value is stored in the collision existence buffer 10044 and the identification number buffer 1005 through separate memory controllers 1002 and 1003 corresponding to the collision presence result and the collision object identification number, respectively. Such a storage structure reduces the hardware routing efficiency and causes the update process to proceed with a low clock, and the update process operates with low performance.

However, in the process of storing the collision existence result and the collision object identification number according to the present invention, since the collision existence result and the collision object identification number are bundled and inputted and outputted from the operation result update unit 142, the collision with one second memory controller 152 is performed. It is possible to operate with high performance through the presence / identification number storage unit 156.

11A is an explanatory diagram of a conventional collision depth and update process of template information, and FIG. 11B is an explanatory diagram of an update collision depth and a process of template information of different frames according to the present invention.

The process of updating the conventional collision depth result and template information is performed as soon as the update engine 1111 reads the collision depth result from the collision depth buffer 1114 through the memory controller 1112 as shown in FIG. 11A. Because of the storage needs, storage performance is poor and it is difficult to design. In addition, the update engine 1111 stores the collision depth result from the collision depth buffer 1115 through the memory controller 1113 and immediately stores it again.

However, in the case of an odd frame updating the collision depth result according to the present invention, the previous collision depth / template information from the first collision depth / template information storage unit 157 through the third memory controller 153. Is called and transferred to the operation result update unit 142. Afterwards, the transmitted collision depth / plate information is updated in the calculation result update unit 142, and the updated collision depth / plate information is transmitted to the second collision depth / plate information storage unit 158 through the fourth memory controller 154. Is recorded.

In addition, in the case of an even frame updating the collision depth result, the previous collision depth / plate information is called from the second collision depth / template information storage unit 158 through the memory controller 154 to calculate the calculation result. It is transmitted to the update unit 142. Thereafter, the transmitted collision depth / plate information is updated in the calculation result update unit 142, and the updated collision depth / plate information is transmitted through the fourth memory controller 154 to the second collision depth / plate information storage unit 158. Is written on.

The process of updating the collision depth result is to improve processing performance and facilitate hardware design since the data path is unidirectional.

12 is a diagram illustrating an example of a recording sequence of a collision information storage unit according to the present invention.

The collision point storage unit 155, the collision existence / identification number storage unit 156, the first collision depth / plate information storage unit 157, and the second collision depth / plate information storage unit 158 are illustrated in FIG. 12. As described above, when the values to be updated are determined for efficient recording of the buffer, the writing order is sequentially recorded according to the number m of the main target figure and the number n of the target figure when writing to the buffer or memory.

For example, when collision tracking between two object groups is performed, when the number of objects in the first object group is m and the number of objects in the second object group is n, the number of cases for collision checking is m × n pieces. Although memory exists as a linear address, it is semantically two-dimensional. In hardware, 1 × n collision operations are repeated m times in basic units. At this time, the first target object group is the main target figure, the second target object group is the final target figure, and the recording direction for the buffer is the result (0, 0), the result (1, 0),. Then, the results are recorded as the result (n, 0), and the operations are performed in order from the main object figure 1 to the main object figure m-1 in order, and finally, the result m-1 and n-1 are recorded.

As described above, the method of the present invention may be implemented as a program and stored in a recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.) in a computer-readable form. Since this process can be easily implemented by those skilled in the art will not be described in more detail.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited by the drawings.

The present invention as described above, by repeatedly using the geometric information loaded at the beginning of the collision process or by transforming the coordinates of the loaded geometric information and reused in the collision information processing, by minimizing the data exchange of the dedicated hardware for data supply and loading By reducing the waiting time, the overall performance can be improved, and collisions between dynamic objects as well as static objects can be checked in real time using hardware.

In addition, the present invention, by calculating the collision point, the presence of collision, the depth of collision through the collision processing operation process and compares the calculation result and the previous collision information to update the new collision information, various objects (for example, sphere, It supports collision processing between boxes, cylinders, rays, and triangles, and has the effect of quickly / easily outputting collision points, existence of collisions, and collision depths.

In addition, the present invention has the effect of saving the storage space of the geometric information and improving the performance of hardware by introducing a copy concept without separating and handling all data related to the collision object.

In addition, the present invention has an effect that can be utilized in graphics systems, such as real-time physics simulation, applications requiring force feedback.

Claims (13)

In the collision information processing apparatus in the graphics system, Loading geometry information of the main target figure and geometry information of the subordinate target figure inputted from the outside, and loading geometric information of the main target figure and geometric information of a plurality of corresponding subordinate target figures to perform collision processing with the main target figure. Collision object information storage means for outputting; Collision object information converting means for converting coordinates of the slave object figure to conform to a coordinate system based on the main object figure; According to the collision processing calculation method determined by the geometry information characteristics of the main object figure and the subordinate object figure, the main object using the geometric information of the input main object figure and the geometric information of each of the subordinate target figures converted into coordinates Collision information arithmetic processing means for simultaneously obtaining a collision point, a collision, and a depth of collision between a figure and the subject figure; Collision information storage means for storing the collision point, the presence or absence of the collision depth, and the collision depth, and allocates two storage areas to store the collision depth before and after the update; And The collision point and the presence or absence of the collision point is updated every time the collision point and the collision state is newly output from the collision information calculation processing means, and the collision depth updating means for updating according to the comparison result with the previously stored collision depth Collision information processing apparatus in a graphics system comprising a. The method of claim 1, The collision object information storage means, A main target figure information file register for loading geometric information of the main target figure inputted at the initial collision processing from the outside and inputting the geometric information to the collision information calculation processing means; Geometric information storage means for loading geometric information of the subject object figure inputted at an initial process of collision processing from the outside; A slave target figure addressing register for storing an addressing register value for the geometric information of the loaded slave figure; Memory control means for reading geometric information of a plurality of corresponding target figures to perform a collision processing operation with the main target figure based on the stored addressing register value; A target target figure information file register for storing geometric information of a plurality of corresponding target figure read by the memory control means and inputting the geometric information to the collision information calculation processing means; And A number register for storing the number of the main object figure and the number of the subject object figures and inputting them to the collision information calculation processing means. Collision information processing apparatus in a graphics system comprising a. The method of claim 2, The collision object information conversion means, Coordinate conversion information file storage means for receiving and storing coordinate conversion information for converting coordinates of the slave object figure into conformity with a coordinate system based on the main target figure; And Coordinate transformation for converting the coordinates of the slave object figure in accordance with the coordinate system based on the main target figure according to the coordinate transformation information and for inputting geometric information of the coordinate-converted slave figure to the collision information calculation processing means. Way Collision information processing apparatus in a graphics system comprising a. The method according to any one of claims 1 to 3, The collision information updating means, An identification start value register for specifying an initial value of a collision object identification number; An identification number increase or decrease register for designating whether the collision object identification number is increased or decreased; Receiving an initial value of the designated collision target identification number and generating an identification number for generating a collision target identification number according to whether there is an increase or decrease of the designated collision target identification number; Collision depth comparison means for reading the pre-stored collision depth and comparing it with the obtained collision depth to obtain a maximum value or a minimum value; And The collision point and the presence or absence of the collision are updated each time the collision point and the presence or absence of the collision information are processed by the collision information calculation processing means, and the collision depth is updated according to a comparison result with the collision depth previously stored in the collision depth comparison means. Means for updating operation results Collision information processing apparatus in a graphics system comprising a. The method of claim 4, wherein The collision information storage means, Save the collision point, existence of collision, depth of collision, Collision point storage means for storing the collision point; First memory control means for controlling the read / write of the collision point in the collision point storage means; Collision existence / identification number storage means for storing the collision existence and the collision object identification number; Second memory control means for controlling read / write of the collision existence and the generated collision object identification number in the collision existence / identification number storage means; First collision depth / decision information storage means for storing the collision depth and template information; Third memory control means for controlling the read / write of the updated collision depth and the template information in the first collision depth / template information storage means; Second collision depth / plate information storage means for storing the collision depth and template information; Fourth memory control means for controlling the read / write of the updated collision depth and the template information in the second collision depth / template information storage means; And A storage location register for designating a storage location of the collision point, the collision existence / identification number, and the collision depth / template information Collision information processing apparatus in a graphics system comprising a. The method of claim 5, The collision information calculation processing means, According to the input information valid signal (Input_data_valid) to determine the validity of the geometric information of the current collision object, and the collision depth preceding call signal (T_prefatch) to read in advance the previous collision depth stored in the collision information storage means; And an output information valid signal (Output_data_valid) for the result of the operation processing. The method of claim 6, The collision information updating means, The collision information is updated according to the outputted output information valid signal and the collision depth preceding call signal, and only a part of the result of the operation processing is stored according to an individual storage selection signal (Buffer enabler), and the collision depth result storage selection signal (T_buffer_selector) And reading or writing the collision depth and the template information from different collision depth / template information storage means. In the collision information processing method in the graphics system, Loading geometry information of the main target figure and geometry information of the subordinate target figure inputted from the outside, and loading geometric information of the main target figure and geometric information of a plurality of corresponding subordinate target figures to perform collision processing with the main target figure. A collision object information storing step of outputting; A collision object information converting step of converting coordinates of the slave object figure to correspond to a coordinate system based on the main target figure; According to the collision processing calculation method determined by the geometry information characteristics of the main object figure and the subordinate object figure, the main object using the geometric information of the input main object figure and the geometric information of each of the subordinate target figures converted into coordinates A collision information operation step of simultaneously obtaining a collision point, a collision, and a depth of a T-value between a figure and the subject object; A collision information storage step of storing the collision points, the existence of collisions, and the collision depths, and separately storing the collision depths before and after updating by allocating two storage areas; And The collision point and the presence or absence of the collision is updated each time the collision point, the presence of collision is newly output in the collision information operation processing step, the collision depth is updated according to the comparison result with the previously stored collision depth Collision information processing method in a graphics system comprising a. The method of claim 8, The collision object information storing step, A geometry information loading step of loading geometry information of the main object figure and geometry information of the slave object figure input in an initial process of collision processing from the outside; An addressing step of storing an addressing register value for geometric information of the loaded slave figure; A memory control step of reading geometry information of a plurality of corresponding target figures to perform collision processing with the main target figure based on the stored addressing register value; And Geometric information storage step of the slave target figure for storing the geometric information of the plurality of target target figure read in the memory control step Collision information processing method in a graphics system comprising a. The method of claim 9, The conflict information updating step, An identification start value specifying step of designating an initial value of a collision object identification number; Identification number increase or decrease step of designating increase or decrease of the collision object identification number (index); An identification number generation step of receiving an initial value of the designated collision object identification number and generating a collision object identification number according to whether the designated collision object identification number is increased or decreased; A collision depth comparison step of reading the pre-stored collision depths and comparing with the obtained collision depths to obtain a maximum value or a minimum value; And The collision point and the presence or absence of the collision are updated each time the collision point and the presence of collision are newly output in the collision information calculation processing step, and the collision depth is updated according to a comparison result with the collision depth previously stored in the collision depth comparison step. Calculation result update step Collision information processing method in a graphics system comprising a. The method according to any one of claims 8 to 10, The collision information storing step, Save the collision point, existence of collision, depth of collision, A collision point storing step of storing the updated collision point; A collision existence / identification number storing step of storing the updated collision existence and the generated collision object identification number together; And Collision depth / Template information storage step in which collision depth / template information is stored separately before / after updating by allocating two storage areas Collision information processing method in a graphics system comprising a. The method of claim 11, The collision information operation processing step, According to the input information valid signal, the collision depth preceding call signal to grasp the validity of the geometric information of the collision object currently input and read the previously stored collision depth in advance, and the output information valid signal for the calculated result Collision information processing method in a graphics system, characterized in that for outputting. The method of claim 12, The conflict information updating step, The collision information is updated according to the output information valid signal and the collision depth preceding call signal, and only a part of the calculation result is stored according to the individual storage selection signal, and the collision is differently according to the collision depth result storage selection signal. And the depth information and the template information are read or written.

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