Computer aided drawing in three dimensions

• US 5,237,647 A
• Filed: 10/28/1991
• Issued: 08/17/1993
• Est. Priority Date: 09/15/1989
• Status: Expired due to Fees

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Roberts, Andrew F., Siler, Todd L., Celniker, George W., Stoops, David R., Gossard, David C., Sachs, Emanuel M., Ulrich, Karl T.
• Primary Examiner(s): Harkcom, Gary V.
• Assistant Examiner(s): JAFFE, MICHAEL
• Application Number:
  US07/784,649
• Time in Patent Office: 659 Days
• Field of Search: 395/118-127, 395/133, 340/706, 340/709, 178/18, 178/19
• US Class Current: 345/419
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• CPC Class Codes: G06F 3/04845 for image manipulation, e.g. dragging, rotation, expansion or change of colour
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06V 30/228 of three-dimensional handwriting, e.g. writing in the air

Abstract

A computer system for aiding in the design of an object, comprising a first sensor representing the object and adapted to be moved in three dimensions in a work area by a designer, the first sensor providing signals to the computer system that indicate its position and orientation in the work area, and a second sensor adapted to be moved by the designer in three dimensions in the work area, the second sensor providing signals to the computer system that indicate its position and orientation in the work area; the computer system responds to the signals from the first and second sensors by creating a displayed image corresponding to a three-dimensional model of the object in a virtual work area that corresponds to the designer'"'"'s work area, the model comprising lines that each have a shape and position that corresponds to movement by the designer of at least one of the sensors, and by controlling the position and orientation of the model in the virtual work area in accordance with the motion of at least one of the sensors.

Claims

1. A computer system for aiding a designer in the design of an object and for generating an image of said object on a display, comprising

means for defining a three-dimensional designer'"'"'s work area,

a first sensor representing the object and configured to be held by the designer in one of the hands and moved in three dimensions in said designer'"'"'s work area by the designer, said first sensor and said means for defining acting in combination to provide first signals that indicate the position of said first sensor in the designer'"'"'s work area,

a second sensor configured to be held by the designer in the other one of the hands and moved by the designer in three dimensions in the designer'"'"'s work area, said second sensor and said means for defining acting in combination to provide second signals that indicate the positions of said second sensor in the designer'"'"'s work area, and

means, responsive to said first signals and said second signals, for:

(1) generating an image on said display that corresponds to a three-dimensional model of the object in a virtual work area that corresponds to the designer'"'"'s work area, said model having a shape defined by movement by the designer of said second sensor in said designer'"'"'s work area, and (2) controlling a position of said displayed image of the model in said virtual work area in accordance with the motion of said first sensor in said designer'"'"'s work area.

2. The system of claim 1 wherein said means for generating and controlling is further responsive to said signals from said first sensor to cause said model to have a position and orientation in the virtual work area that corresponds to the position and orientation of the first sensor in the designer'"'"'s work area, whereby as the designer moves said first sensor in three dimensions said means for generating and controlling alters said displayed image to simulate corresponding three-dimensional movement of said displayed model in the virtual work area.

3. The system of claim 2 further comprising means for producing a representation of said first sensor on said display, said means for producing being responsive to said signals from said first sensor to cause said representation to assume a position and orientation in said virtual work area that corresponds to the position and orientation of said first sensor in said designer'"'"'s work area, whereby as the designer moves said first sensor in three dimensions said means for producing causes said representation of said first sensor to be moved on said display to simulate corresponding three dimensional movement of said representation in said virtual work area, thereby to provide to the designer a sensation of holding said representation.

4. The system of claim 3 wherein said first sensor is mounted on a working surface, and said representation represents said working surface.

5. The system of claim 4 wherein said working surface comprises a planar pad.

6. The system of claim 4 wherein said working surface comprises an article adapted to be held in the palm of the hand.

7. The system of claim 3 further comprising means for producing a representation of said second sensor on said display, said means for producing being responsive to said signals from said second sensor to cause said representation of said second sensor to assume a position and orientation in said virtual work area that corresponds to the position and orientation of said second sensor in the designer'"'"'s work area, whereby as the designer moves said second sensor in three dimensions said means for producing causes said representation of said second sensor to be moved on said display to simulate corresponding three dimensional movement of said representation of said second sensor in said virtual work area, thereby to provide to the designer a sensation of holding said representation of said second sensor.

8. The system of claim 7 wherein said second sensor represents a configurable tool and is adapted to be hand held by the designer.

9. The system of claim 8 wherein said second sensor is disposed in a stylus, and said representation represents said stylus.

10. The system of claim 7 wherein when said the designer holds said first and second sensors in two hands, the displayed positions, orientations, and movement of said model, said representation of said first sensor, and said representation of said second sensor correspond to the relative positions, orientations, and movements of the hands to provide kinesthetic feedback to the designer.

11. The system of claim 1 wherein said second sensor comprises means for allowing the designer to selectively enable said second sensor to cause said means for generating and controlling to create said lines in response to said signals from said second sensor when said second sensor is moved.

12. The system of claim 11 wherein said second sensor is disposed is a stylus and said means for enabling and disabling responds to actuation of a button on said stylus by the designer.

13. The system of claim 12 wherein said means for generating said controlling is further responsive to said signals from said first sensor and said second sensor to cause the position and orientation of said model to change on said display in response to movement of said first sensor without causing a line to be drawn on said display in response to movement of said second sensor, unless said second sensor is enabled and said stylus is moved.

14. The system of claim 1 wherein said means for generating and controlling comprises means for executing sequences of operations to aid in said design of said object.

15. The system of claim 14 further comprising means for generating control signals to enable a designer to selectively control a succession of the execution of said sequences by said means for generating and controlling.

16. The system of claim 15 wherein said second sensor is disposed in a stylus and said means for generating said control signals is responsive to actuation of a button disposed on said stylus by said designer, and further comprising

means for generating one or more tokens on said display that provide the designer with choices as to which sequence is to be executed, said token generating means being responsive to said signals from said second sensor and said control signals to enable one of said choices to be selected in response to:

the movement of said stylus so that a displayed representation thereof coincides with a position of the token that corresponds with said choice; and

the actuation of said button to send one of said control signals, and

means for causing said generating and controlling means to be responsive only to two dimensional movement of said stylus when said representation of said stylus is moved among said tokens.

17. The system of claim 1 wherein said first and second sensors are six degree of freedom sensors that permit the designer to specify seven degrees of freedom to determine said position, orientation and scale of said line in the virtual work area.

18. The system of claim 17 wherein said seven degrees of freedom include the spatial coordinates for each endpoint of the line and an angular orientation of the line with respect to an axis containing said endpoints.

19. The system of claim 18 further comprising means for allowing the designer, before creating the line, to prespecify any one or more of said degrees of freedom.

20. The system of claim 18 further comprising means for allowing the designer to prespecify the spatial coordinates of both endpoints of said line.

21. The system of claim 18 further comprising means for allowing the designer to prespecify the spatial coordinates of one endpoint.

22. The system of claim 1 further comprising scaling means for allowing the designer to prespecify a scale of at least one of said lines before drawing said line.

23. The system of claim 22 wherein said scaling means responds to signals from one of said sensors that identify the spatial coordinates in the virtual work area of both endpoints of the line.

24. The system of claim 1 further comprising means for allowing the designer to indicate a selection of a line in the three dimensional model to the computer system by

causing the representation of the stylus to be positioned over a point on the line in a two-dimensional plane of the display, and

then indicating selection of said line by depressing said button.

25. The system of claim 1 further comprising means for causing the image of the model to be displayed in perspective so as to convey to the designer a three dimensional nature of said model.

26. The system of claim 1 further comprising means for causing the image of the model to be displayed in stereo so as to convey to the designer a three dimensional nature of said model.

27. The system of claim 1 further comprising means for causing the image of the model to be displayed with shading so as to convey to the designer a three dimensional nature of said model.

28. The system of claim 1 further comprising means for causing the image of the lines of the model to be displayed with intensity which varies with distance normal to a plane of said display so as to convey to the designer a three dimensional nature of said model.

29. The system of claim 1 further comprising means for causing the image of the lines of the model to be displayed as tubes centered on the lines so as to convey to the designer a three dimensional nature of said model.

30. The system of claim 1 further comprising means for causing the image of the lines of the model to be displayed with polygons regularly spaced along the lengths of the lines, centered on the lines, so as to convey to the designer a three dimensional nature of said model.

31. The system of claim 1 further comprising means for causing the image of the lines of the model and a displayed representation of said second sensor to be displayed with shadows projected on a floor depicted on the display so as to convey to the designer a three dimensional nature of said model.

32. The system of claim 1 wherein said means for defining comprises an emitter for transmitting a reference signal in said three-dimensional designer'"'"'s work area, each one of said sensors including means for intercepting said reference signal and providing said signals that indicate the position and orientation thereof based on said reference signal.

36. The method of claim 32 further comprising creating at least one of said lines by specifying with said sensors, in any order,

the shape of said line,

the position and orientation of said line in the virtual work area, and

the scale of said line.

33. A computer-aided method for aiding in the design of an object and generating an image of said object on a display, comprising

defining a three-dimensional designer'"'"'s work area with a device,

representing the object with a first sensor configured to be held in one of the hands,

providing a second sensor configured to be held in the other one of the hands,

moving said first sensor in three dimensions in the designer'"'"'s work area with said one hand to cause said first sensor and said device to act in combination to provide first signals that indicate the position of said first sensor in the designer'"'"'s work area,

moving said second sensor in three dimensions in the designer'"'"'s work area with said other hand to cause said second sensor and said device to act in combination to provide second signals that indicate the position and orientation of said second sensor in the designer'"'"'s work area,

causing said computer system to respond to said first signals and said second signals by:

generating an image on the display that corresponds to a three-dimensional model of the object in a virtual work area that corresponds to the designer'"'"'s work area, said model having a shape defined by movement of said second sensor in said designer'"'"'s work area; and

controlling a position of said displayed image of the model in said virtual work area in accordance with the motion of said first sensor in said designer'"'"'s work area.

34. The method of claim 33 further comprising using said sensors to:

create said lines to produce a rough outline of said object,

edit said lines to modify said lines to form a skeletal outline of said object,

fit surfaces to groups of said lines about said skeletal outline, and

modify said surfaces to produce a final shape of said object.

35. The method of claim 34 further comprising causing said computer system to create a primitive shape,

selecting a specified location in said virtual work area at which said shape will be displayed by positioning said second sensor at a corresponding location in the designer'"'"'s work area, and

causing said shape to be displayed at said specified location by signaling said computer system.

37. The method of claim 33 wherein said second sensor comprises a stylus that includes a button-actuated mechanism for sending control signals to said computer system, and further comprising controlling said design by manipulating said stylus and selectively actuating said button.

38. The method of claim 37 further comprising twisting said line about an axis containing endpoints of said line by:

actuating said button to send one of said control signals to said computer, and

rotating said stylus about a longitudinal axis while actuating said button.

39. The method of claim 37 further comprising copying an existing line at a selected position and orientation in the virtual work area by:

identifying the line using said stylus,

locating said stylus at a position and orientation in the designer'"'"'s work area that corresponds to said selected position and orientation in the virtual work area, and

signaling the computer system by actuating said button to cause said computer system to create said line at said selected position.

40. The method of claim 37 further comprising creating a mirror image of a selected line by:

identifying the line using said stylus,

designating a reflection plane for said mirror image using said stylus, and

signaling the computer system by actuating said button to cause said computer system to create said mirror image.

41. The method of claim 40 further comprising changing the position and orientation of said reflection plane by:

correspondingly changing the position and orientation of said stylus, and

signaling the computer system by actuating said button when the reflection plane is in the desired position and orientation.

42. The method of claim 37 further comprising causing a line to be rotated as a rigid body in the virtual work area by rotating the stylus about its tip.

43. The method of claim 42 comprising rotating said line by an amount and in a direction that corresponds to the amount and direction of rotation of said stylus.

44. The method of claim 37 further comprising causing a line to be rotated as a rigid body about an axis that includes endpoints of said line by manipulating said stylus.

45. The method of claim 37 further comprising translating a line as a rigid body from one position to a second position in the virtual work area by:

selecting said line using said stylus,

selecting said second position by locating said stylus at a corresponding position and orientation in the designer'"'"'s work area, and

signaling the computer system by actuating said button.

46. The method of claim 45 further comprising translating said line by:

moving the line using the stylus in only a two dimensional plane of the display, notwithstanding any three dimensional movement of the stylus, and

rotating said model so that a desired plane of line movement is brought into coincidence with said plane of the display.

47. The method of claim 37 further comprising moving a first line connected to a second line by:

selecting the first line using said stylus,

causing said computer to move said first line about a joint with said second line by an amount and in a direction that corresponds to movement of said stylus.

48. The method of claim 37 further comprising moving a first line connected to a second line by:

selecting the first line using said stylus,

causing said computer to move said first line and said second line together by an amount and in a direction that corresponds to movement of said stylus.

49. The method of claim 37 further comprising modifying a line by causing points on a line to be displaced to change the shape of the line.

50. The method of claim 49 further comprising causing the direction of said displacement in the virtual work area to correspond to the direction in which the designer points said stylus in the designer'"'"'s work area.

51. The method of claim 37 further comprising modifying a line by simulating grabbing a point on the line with said stylus and moving said point to change the shape of the line in response to corresponding movement of said stylus.

52. The method of claim 37 further comprising modeling a line with simulated physical characteristics so that the shape of said line responds to change according to said characteristics.

53. The method of claim 52 further comprising modifying said modeled line by applying a simulated force to points on the line to move the line in accordance with said force.

54. The method of claim 53 wherein the direction of said force in the virtual work area corresponds to the direction in which the designer points said stylus in the designer'"'"'s work area.

55. The method of claim 33 further comprising drawing a line by

using said second sensor to draw said line,

generating a projection of said line on a planar working surface attached to said first sensor, and

then using said second sensor to draw the third dimension of said line outside of a plane represented by said planar working surface.

56. The method of claim 33 wherein said device for defining said work area comprises an emitter for transmitting a reference signal in said three-dimensional designer'"'"'s work area, and further comprising, causing each one of said sensors to intercept said reference signal and provide said signals that indicate the position and orientation thereof based on said reference signal.