Systems and methods for interfacing with a virtual object in a haptic virtual environment

• US 20110202856A1
• Filed: 01/03/2011
• Published: 08/18/2011
• Est. Priority Date: 07/17/1998
• Status: Active Grant

• Current Assignee: 3D Systems, Inc. (3D Systems Corporation)
• Original Assignee: 3D Systems, Inc. (3D Systems Corporation)
• Inventors: Midura, Marc, Payne, Bradley, Handley, Joshua, Massie, Thomas H., Shannon, Walter C. III, Aviles, Walter A.
• Granted Patent: US 8,576,222 B2
• Time in Patent Office: Days
• US Class Current: 715/764
• CPC Class Codes: B33Y 50/00 Data acquisition or data processing for additive manufacturing
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing
• CPC Class Codes: G06F 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/03545 Pens or stylus
• CPC Class Codes: G06T 15/00 3D [Three Dimensional] image rendering
• CPC Class Codes: G06T 19/20 Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
• CPC Class Codes: G06T 2200/24 involving graphical user interfaces [GUIs]
• CPC Class Codes: G06T 2210/21 Collision detection, intersection
• CPC Class Codes: G06T 2210/28 Force feedback
• CPC Class Codes: G06T 2219/2016 Rotation, translation, scaling

Abstract

A user of a modeling application modifies an initial virtual object using a sketch drawn on one or more construction planes. Typically, construction planes are connected by an axis that intersects the virtual object. The user can draw a sketch on each construction plane, and the modeling application interpolates a shape along the axis between the sketches to determine what material in the virtual object is to be removed from it. In this manner, material may be removed to create a recess or hole in the virtual object or otherwise to slice away material from the object. A user can use two or more axes and construction planes to produce complex shapes from the initial virtual object. A user can also select a portion of a virtual object and mirror the selected portion. Modifications that the user makes in the selected portion are made correspondingly in the mirrored portion.

Claims

1-2. -2. (canceled)

3. A method for interfacing with a virtual object in a haptic virtual environment, comprising:

generating a virtual object comprising a virtual surface in the haptic virtual environment;

sensing a location of a user in real space;

determining a virtual tool comprising a plurality of discrete points for use by the user in the haptic virtual environment;

determining a haptic interface location in the haptic virtual environment in response to the location of the user in real space;

determining an origin of the virtual tool in the haptic virtual environment;

calculating a force feedback as a function of the tool origin and the haptic interface location, wherein the force feedback corresponds to a resistance of the movement of the virtual tool into the virtual object; and

sending the force feedback to the user through a haptic interface device.

4. The method of claim 3, wherein the force feedback allows the user to move the virtual tool along the virtual surface in a manner that minimizes a spring distance between the tool and the haptic interface location.

5. The method of claim 3, wherein the virtual surface is an implicit surface defined by density values within a voxel grid.

6. The method of claim 3, wherein the calculating step comprises determining a surface direction vector.

7. The method of claim 3, wherein the method attempts to move the virtual tool as close as possible to the haptic interface location, without crossing the virtual surface.

8. The method of claim 3, wherein the haptic interface location penetrates the virtual surface of the virtual object, the virtual tool does not penetrate the virtual surface of the virtual object, and the force feedback is calculated based on a connection between the tool origin and the haptic interface location.

9. The method of claim 8, wherein the connection comprises a virtual spring.

10. The method of claim 8, wherein the connection comprises a virtual dash-pot.

11. The method of claim 3, wherein the origin of the virtual tool corresponds to a point on the virtual tool.

12. A system for interfacing with a virtual object in a haptic virtual environment, comprising:

the virtual object comprising a virtual surface;

a haptic interface device, wherein the haptic interface device senses a location of a user in real space;

a virtual tool comprising a plurality of discrete points for use by the user in the haptic virtual environment; and

a modeling application in communication with the haptic interface device, the virtual object, and the virtual tool, wherein the modeling application (a) determines a haptic interface location in the haptic virtual environment in response to the location of the user in real space;

(b) determines an origin of the virtual tool in the haptic virtual environment;

(c) calculates a force feedback as a function of the tool origin and the haptic interface location, wherein the force feedback corresponds to a resistance of the movement of the virtual tool into the virtual object; and

(d) sends the force feedback to the user through a haptic interface device.

13. The system of claim 12, wherein the force feedback allows the user to move the virtual tool along the virtual surface in a manner that minimizes a spring distance between the tool and the haptic interface location.

14. The system of claim 12, wherein the virtual surface is an implicit surface defined by density values within a voxel grid.

15. The system of claim 12, wherein the modeling application determines a surface direction vector.

16. The system of claim 12, wherein the modeling application attempts to move the virtual tool as close as possible to the haptic interface location, without crossing the virtual surface.

17. The system of claim 12, wherein the haptic interface location penetrates the virtual surface of the virtual object, the virtual tool does not penetrate the virtual surface of the virtual object, and the force feedback is calculated based on a connection between the tool origin and the haptic interface location.

18. The system of claim 17, wherein the connection comprises a virtual spring.

19. The system of claim 17, wherein the connection comprises a virtual dash-pot.

20. The system of claim 12, wherein the origin of the virtual tool corresponds to a point on the virtual tool.