WO2022021686A1 - Method and apparatus for controlling virtual object, and storage medium and electronic apparatus - Google Patents

Abstract

A method and apparatus for controlling a virtual object, and a storage medium and an electronic apparatus. The method comprises: during an animation process of a skeleton model, when a skeleton rigid body of the skeleton model triggers a collision, acquiring animation frame data of a skeleton, corresponding to the skeleton rigid body in the current state, from an animation system (S502); according to the animation frame data, calculating state data and corresponding joint data of the skeleton rigid body in the current state (S504); calculating and setting state data and corresponding joint data of the skeleton rigid body at the next animation frame target state (S506); and by using a physical system of the skeleton model, and according to a driving parameter generated upon collision, simulating the approach of the skeleton rigid body from the current state to the next animation frame target state at a time interval until the next piece of animation frame data is loaded (S508). By means of the method, the technical problems in the related art of it being difficult to expect a physical simulation result of a virtual object, and it being difficult to show an artistic effect of the virtual object, etc. since artistic production cannot directly control the virtual object are solved.

Description

Control method and device for virtual object, storage medium, and electronic device

The present invention claims the priority of the Chinese patent application filed on July 28, 2020 with the application number of 202010736955.9 and the application title is "control method and device for virtual object, storage medium and electronic device", the entire contents of which are approved by Reference is incorporated in the application.

technical field

The present invention relates to the field of computers, and in particular, to a method and device for controlling virtual objects, a storage medium, and an electronic device.

Background technique

In the game rendering system of the related art, a skeletal animation system can be used to achieve good performance effects. However, in the process of use, some problems gradually emerged: on the one hand, the animation effect is single. Take the hit animation as an example, no matter what part is hit, the hit effect is the same. If you want to show different hit effects, Corresponding actions need to be produced through art, so that the overall performance is heavily dependent on the workload of art; on the other hand, it is difficult for pre-made animations to interact with the actual surrounding environment. Taking the knock-to-fly animation as an example, in practical applications, the knock-to-fly process may penetrate the scene objects. Figure 1 is an effect diagram of simulating the knock-to-fly operation according to the animation system in the related art. Therefore, in the face of complex application environments, it is natural to think of introducing physical systems. The physical system can indeed solve the problem of collision penetration in a complex environment, and it can also solve the problem of a single performance effect. Without significantly increasing the workload of art, hitting different parts will produce different effects. Figure 2 is based on the physics in related technologies. The effect diagram of the system simulating the knock-to-fly operation.

Then, the physical system in the related art also introduces some new problems: the art loses direct control over the action performance, and the results of the physical simulation are unpredictable and difficult to adjust. Originally, art can directly control and adjust the position and orientation of bones according to the chronological visual effects, which is very intuitive, while the concepts of mass, force, and speed of the physical system are relatively abstract and need to be run to get the effect. A certain data at a certain time is actually difficult to understand for the overall performance; and there are many physical parameters, which are related to each other and affect the whole body. It is difficult to express the artistic effect as a whole. There are often artistic exaggerated effects in the actions of art production. These effects do not necessarily conform to the laws of physics, and cannot be displayed or difficult to display in the physical system. Therefore, pure physical representation is likely to fall short of artistic expectations. In the above knock-to-fly example, the skeletal animation is obviously different from pure physics in the performance of the aerial posture after the knock-to-fly. Figure 3 is a comparison diagram between the skeletal animation provided according to the related art and the pure physics effect.

For the above problems existing in the related art, no effective solution has been found so far.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a virtual object control method and device, a storage medium, and an electronic device, so as to at least solve the problem in the related art that the virtual object cannot be directly controlled due to art production, and it is difficult to predict the physical simulation result of the virtual object, and It is difficult to express technical problems such as the artistic effect of virtual objects.

According to an embodiment of the present invention, a method for controlling a virtual object is provided, wherein a skeleton model of the virtual object is provided with an animation system, and the skeleton model of the virtual object is provided with a physics system, the physics system comprising: a skeletal rigid body and Corresponding joint information; it is characterized in that, the control method includes: when the skeleton rigid body triggers a collision during the animation of the skeletal model, acquiring the animation frame data of the skeleton corresponding to the skeleton rigid body in the current state in the animation system; according to the animation The frame data calculates the state data and corresponding joint data of the current state of the skeleton rigid body; calculates and sets the state data and corresponding joint data of the skeleton rigid body in the target state of the next animation frame; adopts the physical system of the skeleton model, The approach of the skeletal rigid body from the current state to the target state of the next animation frame is simulated at a time interval according to the driving parameters generated during the collision, until the loading of the next animation frame data.

According to yet another embodiment of the present invention, a control device for a virtual object is also provided, wherein an animation system is set on the skeleton model of the virtual object, and a physics system is set on the skeleton model of the virtual object, and the physics system includes: a skeleton The rigid body and the corresponding joint information; the control device includes: an acquisition module for acquiring the animation frame data of the bone corresponding to the bone rigid body in the current state in the animation system when the bone rigid body triggers a collision during the animation process of the skeletal model; A calculation module, used for calculating the state data and corresponding joint data of the current state of the skeleton rigid body according to the animation frame data; a second calculation module, used for calculating and setting the target state of the skeleton rigid body in the next animation frame. state data and corresponding joint data; a simulation module, used for using the physical system of the skeleton model, simulates the trend of the skeleton rigid body from the current state to the target state of the next animation frame at a time interval according to the driving parameters generated during the collision until the next animation frame data is loaded.

According to yet another embodiment of the present invention, there is also provided a computer program, which includes computer-readable codes, which, when the computer-readable codes are executed on a server, cause the server to execute the above-mentioned method for controlling virtual objects.

According to yet another embodiment of the present invention, a computer-readable medium is also provided, in which a computer program of the above-mentioned method for controlling a virtual object is stored.

The beneficial effects of the present invention are: through the present invention, when the skeletal rigid body triggers collision during the animation of the skeletal model, the animation frame data of the skeleton corresponding to the skeleton in the current state in the animation system is obtained, and then the state of the skeletal rigid body in the current state is calculated. The data and the corresponding joint data, as well as the state data of the skeleton rigid body in the target state of the next animation frame and the corresponding joint data, use the physical system of the skeleton model to simulate the skeleton rigid body from the current state to the target state of the next animation frame at a time interval. Approaching, thus realizing the use of the physical system and the animation system to act together on the virtual object to present the animation special effects of the virtual object during the collision process, solving the problem that the virtual object cannot be directly controlled due to the art production in the related technology, and it is difficult to predict the virtual object. The physical simulation result of the object, and technical problems such as the difficulty of expressing the artistic effect of the virtual object, realize the physical collision effect of the skeleton model in the real world, and improve the technical effect of the fidelity of the virtual object's action performance.

Description of drawings

The accompanying drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

Fig. 1 is according to the effect drawing of the animation system in the related art simulating the knock-to-fly operation;

Fig. 2 is according to the effect diagram of physical system simulation hit-to-fly operation in the related art;

Fig. 3 is the contrast diagram between skeletal animation and pure physical effect provided according to the related art;

4 is a block diagram of a hardware structure in which a method for controlling a virtual object provided by an embodiment of the present invention is applied to a mobile terminal;

5 is a flowchart of a method for controlling a virtual object according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a ragdoll physics provided according to an embodiment of the present invention;

7 is a schematic diagram of a rigid body provided according to an embodiment of the present invention;

8 is a schematic diagram of several different types of joints provided according to an embodiment of the present invention;

Fig. 9 is a kind of orthogonal axis system based on six degrees of freedom provided according to an embodiment of the present invention;

10 is a schematic diagram of an animation frame of a current state of a virtual object provided according to an embodiment of the present invention;

11 is a schematic diagram of an animation frame in which a virtual object is driven by an external force according to an embodiment of the present invention;

12 is a flowchart of each frame in a purely physical scene provided according to an embodiment of the present invention;

13 is a flowchart of each frame in a physical animation scene provided according to an embodiment of the present invention;

Fig. 14 is a structural block diagram of an apparatus for controlling a virtual object according to an embodiment of the present invention.

Fig. 15 shows a block diagram of a server provided by an embodiment of the present invention for executing the method according to the present invention;

FIG. 16 shows a storage unit provided by an embodiment of the present invention for holding or carrying program codes for implementing the method according to the present invention.

detailed description

In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only The embodiments are part of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of the present application. It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict.

It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

Example 1

The method embodiment provided in Embodiment 1 of the present invention may be executed in a computer, a terminal, or a similar computing device. Taking running on a terminal as an example, FIG. 4 is a block diagram of a hardware structure in which a method for controlling a virtual object provided by an embodiment of the present invention is applied to a mobile terminal. As shown in FIG. 4 , the terminal may include one or more (only one is shown in FIG. 4 ) processor 402 (the processor 402 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and The memory 404 for storing data, optionally, the above-mentioned terminal may further include a transmission device 406 and an input and output device 408 for communication functions. Those skilled in the art can understand that the structure shown in FIG. 4 is only for illustration, and does not limit the structure of the above-mentioned terminal. For example, the mobile terminal may further include more or fewer components than those shown in FIG. 4 , or have a different configuration than that shown in FIG. 4 .

The memory 404 can be used to store computer programs, for example, software programs and modules of application software, such as a computer program corresponding to a method for controlling a virtual object in an embodiment of the present invention. The processor 402 runs the computer program stored in the memory 404 by running the computer program. , so as to perform various functional applications and data processing, that is, to implement the above method. Memory 404 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 404 may further include memory located remotely from the processor 402, and these remote memories may be connected to the mobile terminal through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

Transmission means 406 is used to receive or transmit data via a network. The specific example of the above-mentioned network may include a wireless network provided by a communication provider of the mobile terminal. In an example, the transmission device 406 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 406 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet in a wireless manner.

In this embodiment, a method for controlling a virtual object is provided. In the game production process, the skeleton model of the virtual object is provided with an animation system, the animation system includes bones and skins, and the game engine is an animation engine; and the virtual object skeleton model is provided with Physics system, the game engine is a physics engine, the physics system includes: skeleton rigid body and corresponding joint information. FIG. 5 is a flowchart of a method for controlling a virtual object according to an embodiment of the present invention. As shown in FIG. 5 , the flowchart includes:

Step S502, when the skeleton rigid body triggers a collision during the skeletal model animation process, obtain the animation frame data of the skeleton corresponding to the skeleton rigid body in the current state in the animation system;

In this embodiment, the above-mentioned virtual object is a character in the game (such as NPC (Non-Player-Controlled Character, non-player-controlled character), PCC (player-controlled character, Player-Controlled Character)), and a drawing tool is used to make a character The character model installs bones for the character at appropriate positions, and controls the movement of these skeleton rigid bodies through the skeleton control template in the game engine, and the surface of the character changes accordingly with the movement of the skeleton rigid bodies. For example, Ragdoll, the skeleton of Ragdoll is composed of rigid bodies and joints. The rigid bodies are connected by joints to form the structure of the system (usually humanoid), and the joints lock the displacement and configure the appropriate constraint angle, as shown in Figure 6. 6 is a schematic diagram of ragdoll physics provided according to an embodiment of the present invention, wherein the left side shows the torso of ragdoll physics, the middle shows the joints and rigid bodies in the torso, the rigid bodies are connected by joints, and the right side shows the joints driving the rigid body Limits the trajectory range during motion.

Among them, Rigid Body refers to a rigid object that cannot be deformed during motion. Rigid bodies have several physical properties such as mass, velocity, position, and orientation. Rigid bodies are usually composed of [0,n] basic shapes (Shape (shape), Collider (collider)). Basic shapes include cubes, spheres, capsules, and convex hulls. A rigid body may not contain any primitives, representing the concept of a mass point. A rigid body can also contain several primitives, which are used to model complex irregular objects. As shown in FIG. 7 , FIG. 7 is a schematic diagram of a rigid body provided according to an embodiment of the present invention. A joint is an object that connects two rigid bodies together to form a whole. Joints can limit the range of motion of connected rigid bodies. There are many types of joints depending on the range of limitations. As shown in FIG. 8 , FIG. 8 is a schematic diagram of several different types of joints provided according to an embodiment of the present invention.

Step S504, calculating the state data and corresponding joint data when the current state of the skeleton rigid body is calculated according to the animation frame data;

In this embodiment, the state data of the skeletal rigid body includes at least data such as the position, orientation, angular velocity, and linear velocity of the skeletal rigid body, but is not limited thereto; the joint data includes the orientation and position of the joint, and the parameters of the joint itself.

Step S506, calculating and setting the state data of the skeleton rigid body in the target state of the next animation frame and the corresponding joint data;

Step S508 , the physical system of the skeleton model is used to simulate the approach of the skeleton rigid body from the current state to the target state of the next animation frame at a time interval according to the driving parameters generated during the collision until the next animation frame data is loaded.

Optionally, after step S508, the control method of this embodiment further includes: judging whether the collision process is completed in the physical system; if the collision process is not completed, updating the next animation frame data loaded in the current cycle to the next cycle in the next cycle. The animation frame data at the start state. In the next cycle, the operations of S502 to S508 are continued until the collision process is completed, and the system uses the animation system to drive the skeleton model of the virtual object.

According to the embodiment of the present invention, when the skeletal rigid body triggers a collision during the animation process of the skeletal model, the animation frame data of the skeleton corresponding to the skeleton rigid body in the current state in the animation system is obtained, and then the state data and the corresponding joint of the skeletal rigid body in the current state are calculated. data, as well as the state data and corresponding joint data of the skeletal rigid body in the target state of the next animation frame, the physical system of the skeleton model is used to simulate the approach of the skeletal rigid body from the current state to the target state of the next animation frame at a time interval, so as to achieve The physical system and the animation system are used to act together on the virtual object to present the animation special effects of the virtual object in the process of collision, which solves the problem that the virtual object cannot be directly controlled due to the art production in the related art, and the physical simulation result of the virtual object is difficult to predict. , and it is difficult to express technical problems such as the artistic effect of virtual objects, realizes the physical collision effect of the skeleton model in the real world, and improves the fidelity of the virtual object's action performance.

Optionally, obtaining the animation frame data of the skeleton corresponding to the skeleton rigid body in the current state in the animation system includes: obtaining the animation frame loaded by the animation system at the current time, wherein the objects in the animation frame include virtual objects; parsing the virtual objects in the animation frame The skeleton rigid body corresponds to the pose information of the skeleton in the world coordinate system. In this embodiment, the posture information includes information such as the position and orientation of the skeleton at each moment. In another aspect of this embodiment, the state data and corresponding joint data when the current state of the skeletal rigid body is calculated according to the animation frame data includes: in the animation engine, the following state data when the current state of the skeletal rigid body is calculated according to the animation frame data are at least One: the position of the skeleton rigid body, the orientation of the skeleton rigid body, the linear velocity of the skeleton rigid body, and the angular velocity of the skeleton rigid body; determine the joint associated with the skeleton rigid body in the animation engine, and obtain the joint data of the joint in the current state.

In an implementation of this embodiment, calculating the state data of the current state of the skeletal rigid body in the animation engine according to the animation frame data includes: in the animation engine, according to the first animation frame data, parsing the first animation frame data of the virtual object in the world coordinate system Attitude information; first state data when the current state of the skeletal rigid body is determined based on the first attitude information, wherein the first state data includes: the position of the skeletal rigid body and the orientation of the skeletal rigid body; analyzed in the animation engine according to the second animation frame data The second pose information of the virtual object in the world coordinate system, wherein the animation frame data includes first animation frame data and second animation frame data, and the loading time of the second animation frame data is earlier than the loading time of the first animation frame data; based on The moving distance of the virtual object is calculated from the second attitude information and the first attitude information, and the linear velocity of the bone rigid body and the angular velocity of the bone rigid body are calculated according to the moving distance.

In this embodiment, both the animation system and the physics system are calculated in real time. The animation system reads the animation frame data of the skeleton corresponding to the skeleton rigid body from the animation file, and calculates the current frame (that is, the above current state) according to the animation frame data. The skeleton rigid body of the virtual object corresponds to the state data of the skeleton in the animation system (including the orientation and position), and then output to the physical system.

Optionally, the animation engine is used to control the animation process of the virtual character, and the loading, management and query of animation frame data are the main functions implemented by the animation system. The animation engine obtains the animation frame data (that is, the time frame) during the movement of the virtual object. For example, 1 second includes 30 frames, which is equivalent to 30 animation pictures, and can then be displayed continuously within 1 second to form the animation of the virtual object. The animation engine can calculate the position and orientation of each bone at each moment (each moment corresponds to a time frame), so through the animation engine, the user can obtain the current posture information of any bone at any moment (ie the above position and orientation) .

In an example, the animation engine implements any bone code as follows: A3DBone*pBone=pSkeleton->GetBone(index); //Get a certain bone from the skeleton according to the bone index

A3DMatrix4 pose=pBone->GetAbsTM();//Get the pose information (position, orientation) in the current world coordinate system of this bone, and the above pose information is stored in a 4x4 matrix.

In another example, in other engines, the bone pose information may be stored as a 3-dimensional vector and a quaternion; it may also be stored as a 3-dimensional vector and a 3x3 matrix. In the example of making a game character, it is necessary to edit the size of the rigid body of the bones and the corresponding joint information in the physics system in advance according to the animation frame data of the bones in the animation system (using a bone editor). The state data and the corresponding joint data of the skeletal rigid body in this embodiment are calculated by the animation engine, and output to the physics engine, and then participate in the application in the physics system, wherein the state data of the skeletal rigid body at least include: the position of the skeletal rigid body, The orientation of the skeletal rigid body, the linear velocity of the skeletal rigid body, and the angular velocity of the skeletal rigid body.

Optionally, the orientation and position of the rigid body can be calculated directly from the animation frame data; the linear velocity and angular velocity of the rigid body cannot be calculated directly from the current frame data, but also need to be calculated indirectly by referring to the previous animation frame data. In an optional example, the animation engine collects key frames (including the position and orientation) of the target bone at multiple moments, and calculates the linear velocity and the angular velocity of the bone according to several frames. For example, if the target bone is at position S1 at time t0 and at position S2 at time t1, then the linear velocity is (S2-S1)/(t1-t0).

In an optional embodiment of this case, the physical system of the skeleton model is used to simulate the approach of the skeletal rigid body from the current state to the target state of the next animation frame at a time interval according to the driving parameters generated during the collision, until the next animation frame. The loading of animation frame data includes: constructing a three-axis orthogonal coordinate system based on a preset reference rigid body in the physical system of the skeleton model, wherein the skeleton rigid body and the six-degree-of-freedom joints of the joints correspond to the three coordinates of the three-axis orthogonal coordinate system respectively The axial displacement direction and rotation direction of the axis; in the physical system, the skeleton rigid body is simulated at a time interval according to the driving parameters generated at the time of collision through the physical drive in the three-axis orthogonal coordinate system along the axial displacement direction and/or rotation direction from the current The state approaches the target state of the next animation frame until the next animation frame data is loaded, wherein the physical drive includes one of the following: LinearDrive, AngularDrive, SlerpDrive, Drive parameters include axial displacement and rotational displacement around an axis.

In this embodiment, there are many different types of Joint Drive, including at least 6 types, linear drive, angle drive and spherical linear interpolation drive, and each drive type includes: position drive (positiondrive) and velocity Drive (VelocityDrive); according to different types, set different joint parameters, for 6-DOF joints, the summary of the influence of specific parameters is the axial displacement (ie x-axis, y-axis, Z-axis) and respectively Rotation displacement around the xyz axis, a total of 6 joint parameters.

In this embodiment, the skeletal rigid body of the virtual object can be connected by a six-degree-of-freedom joint (D6 Joint, Configurable Joint (configurable joint)), and the six-degree-of-freedom joint is a general high-level joint. Six degrees of freedom refers to three kinds of displacement motions along the axial direction and three kinds of rotational motions around the axial direction in three orthogonal axis systems with arbitrary orientations. D6 Joint can be flexibly configured to implement arbitrary constraints. D6 Joint also has a powerful Drive feature. This is the underlying basis for implementing physical animation. As shown in FIG. 9 , FIG. 9 is a six-degree-of-freedom-based orthogonal axis system provided according to an embodiment of the present invention, including an axial direction along the XYZ axis, and a rotation direction around the axial direction, including an axis with the X axis. The corresponding rotation direction along its own axis, the swing direction along the local normal corresponding to the Y axis, and the swing direction perpendicular to the X axis and the Y axis corresponding to the Z axis.

According to the above embodiment, in one embodiment, taking SLERP Drive (spherical linear interpolation drive) as an example, it is assumed that two rigid bodies Actor0 (character 0) (that is, the above-mentioned last bone rigid body) and rigid body Actor1 (character 1) on the virtual object ) (that is, the above-mentioned skeleton rigid body), where the data are all in the Actor0 coordinate system, the solid line Actor1 represents the current state of Actor1, and the dotted line Actor1 represents the target state of Actor1, as shown in FIG. 10 , which is provided according to an embodiment of the present invention. The animation frame diagram of the current state of the skeletal rigid body. At the beginning of each animation frame of the virtual object, Actor1 is in the current state, and it is necessary to set the target state of Actor1 and set the parameters related to the Joint of Actor1; and then obtain the new state of Actor1 through physical simulation, where the new state is Actor1 from The result of the current state "best effort" towards the target state.

In one example, take two rigid bodies connected by a joint. The state data and the corresponding joint data when calculating the current state of the skeleton rigid body according to the animation frame data include:

S11, obtaining pose data in the animation world coordinate system of the bone corresponding to the first rigid body, wherein the skeleton model of the virtual object at least includes a first rigid body, a second rigid body, and a skeleton connected between the first rigid body and the second rigid body a first joint connected to the first rigid body, and a second joint connected to the second rigid body;

S12, calculating the posture data in the physical world coordinate system of the first rigid body according to the posture of the first rigid body relative to the bones;

S13, calculate the attitude data of the first joint according to the attitude of the first joint relative to the first rigid body;

S14, obtaining the pose data in the animation world coordinate system of the bone corresponding to the second rigid body;

S15, calculating the posture data in the world coordinate system of the second rigid body according to the posture of the second rigid body relative to the bones;

S16, calculate the attitude data of the second joint according to the attitude of the second joint relative to the second rigid body;

S17: Calculate the posture data of the second joint relative to the first joint.

According to the above embodiment, determining the current state of the virtual object at least includes: the current orientation of the target rigid body Actor1, the current position, the current linear velocity, and the current angle. There are many different types of Joint Drive. According to different types, the target state of a virtual object includes at least different data such as position, orientation, linear velocity, and angular velocity.

In this embodiment, the physics system calculates the driving parameters of the skeletal rigid body according to the mathematical model, and the time interval for outputting the physical animation toward the target state. For example, if there are 30 frames per second, the time interval from the current frame to the next frame is

Input the calculated driving parameters as the driving target into the physics engine, and act on the skeleton rigid body. By simulating and calculating the process of the skeletal rigid body moving from the current animation frame to the next animation frame, until the next animation frame data loading ends.

Under normal circumstances, for example, there are 24 or 30 frames in 1 second of the original animation, then the time interval between each two frames is

seconds or

seconds (that is, the above time interval), store the skeletal pose data in this frame, and finally render the animation of this frame through the rendering engine; and in the physical animation provided by this scheme, select 60 frames per second ( or more than 60 frames, such as 120 frames), to achieve a finer granularity per second, then the time interval between every two frames

Second, the simulation state of the skeleton rigid body at a smaller time interval is controlled by the physics engine, making the physical animation smoother.

In an embodiment of the present application, the driving parameter includes at least the resultant moment received by the rigid body, but is not limited thereto. Taking torque as an example, the physical bottom layer (ie, the above-mentioned physics engine) will calculate the output time interval of the next frame of animation according to the input animation frame data, and according to the following formula (ie, the mathematical model in the physics engine), Actor1 will be calculated. The resulting moment is applied to Actor1 (that is, the above-mentioned bone rigid body), where the moment calculation formula is as follows:

Torque=spring*(tarOri-curOri)+damping*(tarAVel-curAVel):

Among them, tarOri: Target orientation of Actor1 relative to Actor0; curOri: Current orientation of Actor1 relative to Actor0; tarAVel: Target angular velocity of Actor1 relative to Actor0; curAVel: Current angular velocity of Actor1 relative to Actor0; spring: This driving torque coefficient. Among them, the larger the spring, the more toward the target, representing the weight of the orientation; damping: the applied driving torque coefficient. Among them, the larger the damping, the more toward the target, which represents the weight of the angular velocity.

The physics engine controls the movement of the skeletal rigid body and the corresponding joints through the combined moment of the skeletal rigid body, at least including rotation, translation, scaling and other operations, so that the skeletal rigid body "try its best" to tend to the target state, and form a physical animation for the bones to assume various poses .

The physical system of the skeleton model is used to simulate the approach of the skeleton rigid body from the current state to the target state of the next animation frame at a time interval according to the driving parameters generated during the collision, until the loading of the next animation frame data, including: extracting the skeleton rigid body In the state data of the target state of the next animation frame and the joint parameters and driving parameters in the corresponding joint data, the joint parameters and driving parameters are related to each other; abstract and encapsulate the joint parameters and driving parameters to obtain the engine parameters; use the engine parameters as the driving parameters The target is input into the physics engine of the physics system, which drives the physics engine to simulate the approach of the skeleton rigid body from the current state to the target state of the next animation frame at a time interval, until the loading of the next animation frame data. By abstracting and encapsulating data such as Joint (joint) parameters and Drive parameters to provide a good external interface, it is not only convenient for users to use, but also provides flexibility in tuning.

In one example, the interval is 1/60 of a second, and the animation frame interval of the animation system is 1/30 of a second. In some implementation scenarios of this embodiment, inputting the engine parameters as the driving target into the physics engine of the physics system includes: calculating the first moment of the engine parameter with respect to the skeleton rigid body, and calculating the limit torque of the skeletal rigid body; according to the first torque and The limit torque calculates the resultant moment received by the skeletal rigid body, and inputs the resultant moment as the driving target into the physics engine of the physics system. Rigid body Actor1 may encounter collision blocking during motion; external users may also apply force; Actor1 is also limited by Jointlimit (joint limit), Joint (joint) maximum force (torque) limit; Joint various flags (signs) The effect of the flag is used to control the different working modes of the joint drive (ie the above-mentioned drive types); as well as the iterative effect of the Joint connection chain, etc., the physics engine will comprehensively calculate the final result of Actor1 (ie the resultant torque).

In an implementation of this embodiment, the system further includes a controller, and the solution further includes: in a predetermined number of animation frame time periods, the following operations are performed by a controller according to the character behavior of the virtual object: driving parameter smoothing, driving State management, driving application strategy management; wherein, driving parameter smoothing is used to smoothly display animation effects of virtual objects; driving state management includes managing the state changes of skeletal rigid bodies; driving application strategy management is used to indicate the controller used to control The skeletal rigid body produces the corresponding animation effect.

In this embodiment, the physics engine performs the simulation of the dt time slice (ie, the above-mentioned time interval) from the current state to obtain the physics simulation result. This scheme also includes the operation of controllers and compositors, where the controllers (controllers manage behaviors that tend to be relatively long-term, usually on the order of seconds or more, each animation controller is usually responsible for one type of character behavior, the harmony It is mainly responsible for parameter smoothing (to make the animation effect of the character more fluent), the management of Drive state (the state change management of rigid body), and the application strategy of Drive (the application strategy indicates which controller is used for control). What kind of animation effect of the rigid body, such as using the rotation controller to control the rotation of the joint, and then using the position controller to control the position of the virtual object), so as to achieve different effects with various controllers.

In one implementation of this embodiment, the system further includes a synthesizer, and the synthesizer is responsible for processing the result of the physical animation and the smooth processing between the animation and pure physics. When the synthesizer performs the result of the physical animation and the smoothing of the animation, the solution also includes: when the skeletal rigid body triggers a collision during the animation of the skeletal model, a synthesizer is used to compare the approach result calculated by the physics system with the state data of the current animation frame Fusion processing is performed with the corresponding joint data.

When the compositor performs the smoothing of the result of the physical animation and the pure physics, it also includes: when a new trigger event on the skeletal model is detected, the motion of the skeletal model is switched to the motion calculated by the pure physics system; wherein when switching , using a synthesizer to fuse the approximation result calculated by the physical system with the state data and the corresponding joint data calculated by the pure physical system to be switched to at the current moment.

In one instance, this effect has been achieved in the game project: after the original protagonist collided with other NPCs or players while walking, he went straight through without any reaction. The process after adding physical animation is like this: when there is no collision, the protagonist is in an animation-driven state. When the system determines the collision, switch to the physical animation state, and apply a force opposite to the collision direction to the rigid body of the protagonist's torso. The animation-driven state is restored after a certain period of time. In this process, the bending degree of the physical animation body calculated by the physics engine after applying the force is often relatively large. Therefore, we used a compositor to fuse the result calculated by the physics engine with the original animation to form the final result.

In an example of this embodiment, it is assumed that the upper logic layer determines to switch from a loose physical animation effect to a tight physical animation effect at a certain frame, and the spring parameter needs to be adjusted, for example, the spring parameter needs to be adjusted from 200 to 800, However, if you switch suddenly (that is, directly adjust the spring parameter from 200 to 800), it will often cause the screen to jump, which will make people feel stiff and lead to poor visual effects. Through this example, the spring parameter will be adjusted gradually, for example, in 0.3 seconds The spring parameter needs to be adjusted from 200 to 800 within the time, and more than 20 frames have been run within 0.3 seconds, the controller is responsible for increasing the spring parameter value for each frame to reach the final target value, thus realizing the operation of parameter smoothing. .

In another example, taking the above knock-up effect as an example, before the knock-up, the character is alive and is controlled by pure animation, and the physics is controlled by animation in the form of kinematic (kinematic) rigid bodies. Switch to physical animation at the moment of knock-up, and the body gradually relaxes during the whole process of vacating; when the character lands, it is considered to be in a state of death and maintains a looser effect; after landing for a period of time (that is, after a period of death), the body forms a relatively looser effect. A tense and stiff state, thought to be a zombie. During the knock-up process, the driving state and application strategy of the physical animation are different, which requires the controller to control and manage the implementation. Or assign physical properties to the target joint.

In one example, in a complex environment, the underlying physics engine is responsible for collision penetration. Various physical parameters are set in advance through the physics engine. After the physics engine gets the animation data, it is converted into data in the physics system, and the settings are different. parameters, execute a dt (time slice), get the final simulation result, and then get the physical animation, which realizes the control of the target rigid body or the target joint to rotate, translate, and even zoom, etc. Physical animation. The following is a further description of this scheme with the overall process of pure physics and physical animation:

FIG. 12 is a flowchart of each frame in a purely physical scene provided according to an embodiment of the present invention. As shown in FIG. 12 , taking the skeleton model of the ragdoll system as an example, if the arm of the game character (such as the above-mentioned skeleton rigid body) hits the wall, the physical The system (physics engine) sets the rigid body to hit the wall and is subject to physical parameters, such as gravity, the arm sags and is constrained by the acceleration of gravity, and then simulates the rigid body to do free fall motion. The final result obtained does not conform to the state of the arm hitting the wall in the real scene. .

In order to achieve a variety of action performance effects without significantly increasing the art workload, the action performance can be affected by the surrounding environment, and the action performance can show the overall artistic effect, this embodiment provides a solution using animation to drive physics (referred to as physical animation), That is, the animation is used as the frame and is realized by physical means. Referring to FIG. 13, FIG. 13 is a flowchart of each frame in the physical animation scene provided according to the embodiment of the present invention. The wall was previously controlled by the animation system. The animation system calculates the state data and joint data of the bones in the animation system according to the animation frame data (the pose data of the bones) in the animation file, and calculates the parameters of the corresponding skeleton rigid bodies and joints in the physics system. , and the state data of the skeleton rigid body of the next frame. The physics engine sets the corresponding joint data of the skeleton rigid body of the next frame according to the drive type of the joint (ie, sets the target state); after the arm hits the wall, it switches from the animation state to the physical animation The state is controlled by the physics engine. Each animation controller in the physics engine is usually responsible for one type of character behavior, and different parameters are set for the specified controller, such as physical parameters such as spring and damping. Smoothing processing, to perform parameter smoothing processing on the current frame trending to the next frame drive; the data model in the physics engine calculates the output time interval according to the animation frame data, and simulates the rigid body from the current frame trending down with this time interval (such as 1/60th of a second). One frame of physical animation, and output; when the skeleton rigid body enters the physical animation system from the animation system, or from the physical animation system to the animation system, the compositor performs state smoothing processing, so that the current frame "try its best" to the next target frame, get Final result. In this solution, physical animation fully combines the controllability of animation and the interactivity of physics, and has better action performance than pure physical scenes or pure animation scenes; and if combined with IK, animation fusion and other technologies, It can further enhance the action expression and realism of the game. Therefore, this scheme can be considered in some games that focus on action performance. Thus, the technical problem in the related art that art production cannot control the action of the virtual object and thus affects the art effect is solved.

This solution provides the state data of all the bones of the virtual object in each frame, and outputs it to the physics system. The time interval simulates the approaching process of the virtual object from the current state to the target state, and finally renders the art animation of the virtual object through the rendering engine, thus realizing the art effect of the final game character jointly determined by physics and animation.

Example 2

In this embodiment, a virtual object control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementations, and the descriptions that have been described will not be repeated. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, implementations in hardware, or a combination of software and hardware, are also possible and contemplated.

This embodiment provides a control device for a virtual object, wherein the skeleton model of the virtual object is provided with an animation system, and the skeleton model of the virtual object is provided with a physics system, and the physics system includes: a skeleton rigid body and corresponding joint information; 14 is a structural block diagram of a control device for a virtual object according to an embodiment of the present invention, the device includes: an acquisition module 1402 for acquiring the current state in the animation system when the rigid body of the skeleton triggers a collision during the animation of the skeletal model The animation frame data of the skeleton corresponding to the skeleton rigid body;

The first calculation module 1404 is connected to the above-mentioned acquisition module 1402, and is used for calculating the state data and corresponding joint data of the current state of the skeleton rigid body according to the animation frame data;

The second calculation module 1406, connected to the above-mentioned first calculation module 1404, is used to calculate and set the state data and corresponding joint data of the skeleton rigid body in the target state of the next animation frame;

The simulation module 1408, connected to the above-mentioned second calculation module 1406, is used for using the physical system of the skeleton model to simulate the skeleton rigid body from the current state to the target state of the next animation frame at a time interval according to the driving parameters generated during the collision approach until the next animation frame data is loaded.

Optionally, the obtaining module includes: an obtaining unit for obtaining an animation frame loaded by the animation system at the current time, wherein the object in the animation frame includes the virtual object; a parsing unit for obtaining the animation frame in the animation In the frame, the skeleton rigid body of the virtual object is parsed to correspond to the posture information of the skeleton in the world coordinate system.

Optionally, the first calculation module includes: a calculation unit for calculating at least one of the following state data when the current state of the skeleton rigid body is calculated according to the animation frame data in the animation engine: the position of the skeleton rigid body, the skeleton The orientation of the rigid body, the linear velocity of the skeletal rigid body, and the angular velocity of the skeletal rigid body; the processing unit is used to determine the joint associated with the skeletal rigid body in the animation engine, and obtain the joint data of the joint in the current state .

Optionally, the first calculation module includes: a first acquisition unit, configured to obtain the pose data in the animation world coordinate system of the bone corresponding to the first rigid body, wherein the skeleton model of the virtual object includes at least the first a rigid body, a second rigid body, and a first joint connected to the first rigid body between the first rigid body and the second rigid body, and a second joint connected to the second rigid body; a first calculation unit for The posture of a rigid body relative to the bones calculates the posture data in the physical world coordinate system of the first rigid body; the second calculation unit is used to calculate the posture data of the first joint according to the posture of the first joint relative to the first rigid body; the second The acquisition unit is used to obtain the posture data in the animation world coordinate system of the bone corresponding to the second rigid body; the third calculation unit is used to calculate the posture in the world coordinate system of the second rigid body according to the posture of the second rigid body relative to the bone data; a fourth calculation unit for calculating the attitude data of the second joint according to the attitude of the second joint relative to the second rigid body; and a fifth calculation unit for calculating the attitude data of the second joint relative to the first joint.

Optionally, the computing unit includes: a first parsing subunit for parsing the first pose information of the virtual object in the world coordinate system according to the first animation frame data in the animation engine; a determination subunit for The first posture information determines the first state data of the current state of the skeleton rigid body, wherein the first state data includes: the position of the skeleton rigid body, the orientation of the skeleton rigid body; the second parsing subunit is used for The animation engine parses the second pose information of the virtual object in the world coordinate system according to the second animation frame data, wherein the animation frame data includes the first animation frame data and the second animation frame data, and the animation frame data includes the first animation frame data and the second animation frame data. The loading time of the second animation frame data is earlier than the loading time of the first animation frame data; the calculation subunit is configured to calculate the moving distance of the virtual object based on the second posture information and the first posture information, and calculate the linear velocity of the skeleton rigid body and the angular velocity of the skeleton rigid body according to the moving distance.

Optionally, the simulation module includes: a construction unit for constructing a three-axis orthogonal coordinate system based on a preset reference rigid body in the physical system of the skeleton model, wherein the skeleton rigid body and the six-degree-of-freedom joint of the joint Corresponding to the axial displacement direction and the rotation direction of the three coordinate axes of the three-axis orthogonal coordinate system respectively; the simulation unit is used to simulate the physical driving in the physical system at a time interval according to the driving parameters generated during the collision. The skeletal rigid body approaches from the current state to the target state of the next animation frame along the axial displacement direction and/or the rotation direction in the three-axis orthogonal coordinate system, until the loading of the next animation frame data, wherein the physical drive It includes one of the following: linear drive, angular drive, spherical interpolation drive, and the drive parameters include displacement along the axial direction and rotational displacement around the axis.

Optionally, the simulation module includes: an extraction unit, configured to extract the state data of the skeleton rigid body in the target state of the next animation frame and the joint parameters and driving parameters in the corresponding joint data, wherein the joint parameters and all The drive parameters are related to each other; the encapsulation unit is used to abstract and encapsulate the joint parameters and the drive parameters to obtain engine parameters; the drive unit is used to input the engine parameters into the physics engine of the physical system as a drive target, The physics engine is driven to simulate the approach of the skeletal rigid body from the current state to the target state of the next animation frame at a time interval until the loading of the next animation frame data.

Optionally, the driving unit includes: a calculation subunit for calculating a first moment of the engine parameter with respect to the skeleton rigid body, and calculating a limit torque of the skeleton rigid body; an input subunit for calculating the first moment of the skeleton rigid body according to the first The moment and the limit moment calculate the resultant moment received by the skeletal rigid body, and input the resultant moment as a drive target into the physics engine of the physics system.

Optionally, the time interval is 1/60 second, and the animation frame time interval of the animation system is 1/30 second. Optionally, the device further includes: a control module, configured to perform the following operations according to the character behavior of the virtual object through a controller in a predetermined number of animation frame time periods: smoothing processing of driving parameters, management of driving states, Driving application strategy management; wherein, the driving parameter smoothing process is used to smoothly display the animation effect of the virtual object; the driving state management includes managing the state changes of the skeletal rigid body; the driving application strategy management is used to indicate the The controller used to control the skeletal rigid body to produce corresponding animation effects.

Optionally, the device further includes: a synthesis module, used for using a synthesizer when the skeletal rigid body triggers a collision during the animation process of the skeletal model to compare the approach result calculated by the physics system with the result of the current animation frame. The state data and the corresponding joint data are fused.

Optionally, the device further includes: when a new trigger event on the skeleton model is detected, switching the motion of the skeleton model to the motion calculated by the pure physical system; wherein when performing the switching, a A synthesizer, which fuses the approaching result calculated by the physical system with the state data and the corresponding joint data calculated by the pure physical system to be switched to at the current moment.

Optionally, the device further includes: a judgment module, configured to use the physical system of the skeleton model in the simulation module, and simulate the skeleton rigid body from the current state downward at a time interval according to the driving parameters generated during the collision. When the target state of an animation frame approaches, until the loading of the next animation frame data, it is judged in the physics system whether the collision process is completed; the update module is used to update the current cycle if the collision process is not completed. The next animation frame data is updated to the animation frame data when the next cycle is in the initial state.

It should be noted that the above modules can be implemented by software or hardware, and the latter can be implemented in the following ways, but not limited to this: the above modules are all located in the same processor; or, the above modules can be combined in any combination The forms are located in different processors.

Various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components of the virtual object control device according to the embodiment of the present invention. The present invention can also be implemented as apparatus or apparatus programs (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

For example, FIG. 15 shows a server, such as an application server, that can implement the control method of a virtual object according to the present invention. The server traditionally includes a processor 410 and a computer program product or computer readable medium in the form of memory 420 . The memory 420 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. The memory 420 has storage space 430 for program code 431 for performing any of the method steps in the above-described methods. For example, storage space 430 for program code may include various program codes 431 for implementing various steps in the above methods, respectively. These program codes can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are typically portable or fixed storage units as described with reference to FIG. 16 . The storage unit may have storage segments, storage spaces, etc. arranged similarly to the storage 420 in the server of FIG. 4 . The program code may, for example, be compressed in a suitable form. Typically, the storage unit includes computer readable code 431', i.e. code readable by a processor such as 410 for example, which when executed by a server, causes the server to perform the various steps in the methods described above.

In the above-mentioned embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The apparatus embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components may be combined or Integration into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes .

The above are only the preferred embodiments of the present application. It should be pointed out that for those skilled in the art, without departing from the principles of the present application, several improvements and modifications can also be made. It should be regarded as the protection scope of this application.

Claims (15)

1. A control method of a virtual object, wherein an animation system is set on a skeleton model of the virtual object, and a physics system is set on the skeleton model of the virtual object, the physics system includes: a skeleton rigid body and corresponding joint information; the control method includes: :

   During the animation process of the skeletal model, when the skeleton rigid body triggers a collision, obtain the animation frame data of the skeleton corresponding to the skeleton rigid body in the current state of the animation system;

   Calculate the state data and corresponding joint data of the current state of the skeleton rigid body according to the animation frame data;

   Calculate and set the state data and corresponding joint data of the skeleton rigid body in the target state of the next animation frame;

   The physical system using the skeleton model simulates the approach of the skeletal rigid body from the current state to the target state of the next animation frame at a time interval according to the driving parameters generated during collision, until the loading of the next animation frame data.
2. The method according to claim 1, obtaining the animation frame data of the skeleton corresponding to the skeleton rigid body when the current state in the animation system comprises:

   Obtain the animation frame loaded by the animation system at the current time, wherein the object in the animation frame includes the virtual object;

   In the animation frame, the pose information of the skeleton corresponding to the skeleton of the virtual object in the world coordinate system is parsed.
3. The method according to claim 1, the state data and the corresponding joint data when calculating the current state of the skeletal rigid body according to the animation frame data comprises:

   At least one of the following state data when the current state of the skeletal rigid body is calculated in the animation engine according to the animation frame data: the position of the skeletal rigid body, the orientation of the skeletal rigid body, the linear velocity of the skeletal rigid body, and the angular velocity of the skeletal rigid body;

   A joint associated with the skeleton rigid body is determined in the animation engine, and joint data of the joint in the current state is obtained.
4. The method according to claim 1, the state data and the corresponding joint data when calculating the current state of the skeletal rigid body according to the animation frame data comprises:

   Obtain the pose data in the animation world coordinate system of the bone corresponding to the first rigid body, wherein the skeleton model of the virtual object includes at least a first rigid body, a second rigid body, and a connection between the first rigid body and the second rigid body. a first joint connected to the first rigid body, and a second joint connected to the second rigid body;

   Calculate the posture data in the physical world coordinate system of the first rigid body according to the posture of the first rigid body relative to the bones;

   Calculate the posture data of the first joint according to the posture of the first joint relative to the first rigid body;

   Obtain the pose data in the animation world coordinate system of the bone corresponding to the second rigid body;

   Calculate the posture data in the world coordinate system of the second rigid body according to the posture of the second rigid body relative to the bone;

   Calculate the attitude data of the second joint according to the attitude of the second joint relative to the second rigid body;

   Calculate the pose data of the second joint relative to the first joint.
5. The method according to claim 3, the state data when calculating the current state of the skeletal rigid body according to the animation frame data in the animation engine comprises:

   Analyzing the first pose information of the virtual object in the world coordinate system according to the first animation frame data in the animation engine;

   The first state data when the current state of the skeleton rigid body is determined based on the first posture information, wherein the first state data includes: the position of the skeleton rigid body and the orientation of the skeleton rigid body;

   The animation engine parses the second pose information of the virtual object in the world coordinate system according to the second animation frame data, wherein the animation frame data includes the first animation frame data and the second animation frame data, so The loading time of the second animation frame data is earlier than the loading time of the first animation frame data;

   The movement distance of the virtual object is calculated based on the second posture information and the first posture information, and the linear velocity of the skeleton rigid body and the angular velocity of the skeleton rigid body are calculated according to the movement distance.
6. The method according to claim 1, using the physical system of the skeletal model to simulate the approach of the skeletal rigid body from the current state to the target state of the next animation frame at a time interval according to the driving parameters generated during the collision, until The loading of the next animation frame data, including:

   In the physical system of the skeleton model, a three-axis orthogonal coordinate system is constructed based on a preset reference rigid body, wherein the skeleton rigid body and the six-degree-of-freedom joints of the joints respectively correspond to the three coordinate axes of the three-axis orthogonal coordinate system. Axial displacement direction and rotation direction;

   In the physical system, the skeletal rigid body is simulated at a time interval through physical driving according to the driving parameters generated during collision in the three-axis orthogonal coordinate system along the axial displacement direction and/or rotation direction from the current state to the next state Approaching the target state of the animation frame until the loading of the next animation frame data, wherein the physical drive includes one of the following: linear drive, angle drive, spherical interpolation drive, and the drive parameters include displacement along the axis and rotation around the axis displacement.
7. The method according to claim 1, using the physical system of the skeletal model to simulate the approach of the skeletal rigid body from the current state to the target state of the next animation frame at a time interval according to the driving parameters generated during the collision, until The loading of the next animation frame data, including:

   extracting the joint parameters and driving parameters in the state data of the skeleton rigid body in the target state of the next animation frame and the corresponding joint data, wherein the joint parameters and the driving parameters are related to each other;

   Abstract and encapsulate the joint parameters and drive parameters to obtain engine parameters;

   The engine parameters are input into the physics engine of the physics system as the driving target, and the physics engine is driven to simulate the approach of the skeletal rigid body from the current state to the target state of the next animation frame at a time interval, until the next A loading of animation frame data.
8. The method according to claim 7, inputting the engine parameter as a driving target into a physics engine of the physics system comprises:

   calculating the first moment of the engine parameter with respect to the skeletal rigid body, and calculating the limiting moment of the skeletal rigid body;

   The resultant moment received by the skeleton rigid body is calculated according to the first moment and the limit moment, and the resultant moment is input into the physics engine of the physics system as a driving target.
9. The method of claim 1, further comprising:

   In a predetermined number of animation frame time periods, the following operations are performed by a controller according to the character behavior of the virtual object: smoothing processing of driving parameters, management of driving states, and management of driving application policies;

   Wherein, the driving parameter smoothing process is used to smoothly display the animation effect of the virtual object; the driving state management includes managing the state changes of the skeletal rigid body; the driving application policy management is used to indicate the controller used, To control the skeleton rigid body to produce the corresponding animation effect.
10. The method according to claim 1, further comprising: when the skeletal rigid body triggers a collision during the animation of the skeletal model, using a synthesizer to compare the approach result calculated by the physics system with the current animation frame The state data and the corresponding joint data are fused.
11. The method of claim 10, further comprising:

    When a new trigger event on the skeletal model is detected, the motion of the skeletal model is switched to the motion calculated by the pure physics system;

    When performing the switching, a synthesizer is used to fuse the approaching result calculated by the physical system with the state data and the corresponding joint data calculated at the current moment by the pure physical system to be switched to.
12. The method according to claim 1, in which the physical system using the skeleton model simulates the approach of the skeletal rigid body from the current state to the target state of the next animation frame at a time interval according to the driving parameters generated during the collision. After the loading of the next animation frame data, the method further includes:

    Determine whether the collision process is completed in the physical system;

    If the collision process is not completed, the next animation frame data loaded in the current cycle is updated to the animation frame data when the next cycle is in the initial state.
13. A control device for a virtual object, wherein a skeleton model of the virtual object is provided with an animation system, and the virtual object skeleton model is provided with a physics system, the physics system includes: a skeleton rigid body and corresponding joint information; the control device includes :

    The acquiring module is used to acquire the animation frame data of the skeleton corresponding to the skeletal rigid body in the current state of the animation system when the skeletal rigid body triggers a collision during the animation of the skeletal model;

    a first calculation module, configured to calculate the state data and corresponding joint data of the current state of the skeleton rigid body according to the animation frame data;

    The second calculation module is used to calculate and set the state data of the skeleton rigid body in the target state of the next animation frame and the corresponding joint data;

    The simulation module is used to use the physical system of the skeleton model to simulate the approach of the skeleton rigid body from the current state to the target state of the next animation frame at a time interval according to the driving parameters generated during the collision, until the next animation frame data loading.
14. A computer program comprising computer readable code which, when run on a server, causes the server to perform the method of any of claims 1-12.
15. A computer-readable medium in which the computer program of claim 14 is stored.

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