Virtual object display apparatus and method employing viewpoint updating for realistic movement display in virtual reality

• US 6,078,329 A
• Filed: 09/27/1996
• Issued: 06/20/2000
• Est. Priority Date: 09/28/1995
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Doi, Miwako, Umeki, Naoko
• Primary Examiner(s): Zimmerman, Mark K.
• Assistant Examiner(s): Lee, Albert K.
• Application Number:
  US08/720,069
• Time in Patent Office: 1,362 Days
• Field of Search: 345/419, 345/418, 345/473, 345/357, 345/433, 345/427
• US Class Current: 345/419
• CPC Class Codes: A63F 2300/6607 for animating game characters, e.g. skeleton kinematics
• CPC Class Codes: A63F 2300/6684 by dynamically adapting its position to keep a game object in its viewing frustrum, e.g. for tracking a character or a ball
• CPC Class Codes: G06T 13/40 of characters, e.g. humans, animals or virtual beings
• CPC Class Codes: G06T 15/20 Perspective computation

Abstract

A virtual object display apparatus displays an object moved in three-dimensional virtual space. A key frame memory section previously stores move data of each part of the object by unit of action of the object'"'"'s movement in three-dimensional virtual space. A swing calculation section calculates the change of a basis point of the object by unit of action according to the move data of each part of the object. A display position set section calculates the change of display position corresponding to the change of the basis point in three-dimensional virtual space by unit of action. A display section displays the object movement in three-dimensional virtual space according to the display position by unit of action.

Claims

1. Virtual object display apparatus for displaying a virtual environment along a display direction from a display position to a reference point in three-dimensional virtual space, the display position being fixedly located behind a viewpoint of a walking human model relative to a walking direction, the reference point being located forward of the walking direction, the human model consisting of a plurality of body parts, comprising:

key frame memory means for storing a set value for each body part, wherein said set value corresponds to a unit sample of a walking motion in the three-dimensional virtual space, and wherein one step of the walking motion includes a plurality of unit samples;

swing calculation means for calculating the viewpoint of the human model for each unit sample of the walking motion in order according to the set value of each body part of the human model for the unit sample of the walking motion;

display position setting means for calculating a display position corresponding to the viewpoint of the human model in the three-dimensional virtual space for each unit sample of the walking motion; and

display means for displaying the virtual environment in three-dimensional virtual space along the display direction from the display position to the reference point, wherein the display direction is changed in synchronization with change of the viewpoint of the human model by the unit sample of the walking motion.

2. Virtual object display apparatus according to claim 1, further comprising shape memory means for storing an item ID number, a center coordinate, a bounding box and-a pointer to detailed shape data for each type of displayable item in the three-dimensional virtual space, and comprising position memory means for storing a shape data ID number, a position coordinate and a rotation angle for each type of displayable item in the three-dimensional virtual space.

3. Virtual object display apparatus according to claim 2,

wherein said swing calculation means calculates the next basis point of the human model according to the present basis point, a walking direction, a stance width and the movement data of at least one leg of the human model, and includes means for calculating a next target point according to a present target point, the next basis point and the stance width.

4. Virtual object display apparatus according to claim 3,

wherein said swing calculation means includes means for calculating a viewpoint and a reference point of the human model according to the next basis point, the next target point and a predetermined height of the human model.

5. Virtual object display apparatus according to claim 4,

wherein said display position set means calculates the display position which is behind the human model relative to the walk direction, from a predetermined next viewpoint, and vertically higher than the next view point by a predetermined value.

6. Virtual object display apparatus according to claim 5,

wherein said display means displays the human model in the three-dimensional virtual space according to the display position being a camera position having a camera direction directed from the display position to the reference point.

7. Virtual object display apparatus for displaying a virtual object from a display position moving along a fixed direction in three-dimensional virtual space, a plurality of virtual objects being previously located surrounding the fixed direction, comprising:

viewed object memory means for storing object information of the virtual object viewable from each of predetermined positions along the fixed direction in the three-dimensional virtual space;

position calculation means for calculating the display position for moving in sequence along the fixed direction according to a predetermined speed of the display position;

viewed object selection means for selecting the virtual object to be viewed from the calculated display position according to a distance between the calculated display position and a position of each viewable object stored in said viewed object memory means whenever the calculated display position coincides with one of the predetermined positions along the fixed direction; and

display means for displaying the virtual space along the fixed direction from the calculated display position when the calculated display position does not coincide with all of the predetermined positions along the fixed direction while moving along the fixed direction, and for displaying the selected object in the three-dimensional virtual space along a display direction from the calculated display position to a position of the selected object whenever the calculated display position coincides with one of the predetermined positions along the fixed direction while moving along the fixed direction.

8. Virtual object display apparatus according to claim 7,

wherein the movement direction is a direction in which a human model walks in the three-dimentional virtual space and the display position is a viewpoint of the walking human model in the three-dimensional virtual space.

9. Virtual object display apparatus according to claim 8,

further comprising shape memory means for storing an ID number, a center coordinate, a bounding box and a pointer to detailed shape data for each type of object, and comprising position memory means for storing a shape data ID number, a position coordinate and a rotation angle for each type of object in the three-dimensional virtual space.

10. Virtual object display apparatus according to claim 9,

wherein said position calculation means calculates a next display position along the walking direction according to a present value of the display position and a predetermined walking speed of the human model.

11. Virtual object display apparatus according to claim 10,

wherein said viewed object selection means ranks by distance the objects whose distance from the display position is below a predetermined value, and selects the object which is closest to the display position when an angle between the walking direction and a direction from the display position to the selected object is less than a predetermined angle.

12. Virtual object display apparatus according to claim 11,

further comprising viewed object display set means for setting a center of gravity of the selected object as a reference point, and for setting a display direction from the display position to the reference point.

13. Virtual object display apparatus for displaying a virtual environment from a display position behind a head of a human model walking in three-dimensional virtual space, comprising:

position calculation means for calculating a view direction and a viewpoint of the human model according to a present display position and a present reference point of the human model, wherein the present display position is fixedly located behind the head of the human model, wherein the present reference point is located forward of a walking direction, wherein the view direction is a direction from the present display position to the present reference point, and wherein the viewpoint is a center point for rotation of the head of the human model;

display means for displaying the virtual environment along a present display direction from the present display position behind the head of the human model to the present reference point;

input means for inputting a move instruction for the head of the human model, wherein the move instruction includes a rotation angle and a rotation direction of the head of the human model; and

rotation angle calculation means for calculating a head rotation angle of the human model according to the move instruction inputted by said input means, and for calculating a next display position and a next reference point, wherein the next display position is determined by rotating the present display position by the head rotation angle based on the viewpoint, and wherein the next reference point is determined by rotating the present reference point by the head rotation angle based on the viewpoint; and

wherein said display means rotates the head of the human model according to the head rotation angle and the rotation direction in response to the move instruction, and displays the virtual environment along a next display direction from the next display position behind the rotated head of the human model to the next reference point.

14. Virtual object display apparatus according to claim 13,

wherein said rotation angle calculation means compares the object rotation angle with a maximum angle and a minimum angle, and constrains the object rotation angle to be no greater than the maximum angle and no smaller than the minimum angle.

15. Virtual object display method for displaying a virtual environment along a display direction from a display position to a reference point in three-dimensional virtual space, the display position being fixedly located behind a viewpoint of a walking human model relative to a walking direction, the reference point being located forward of the walking direction, the human model consisting of a plurality of body parts in three-dimensional virtual space, comprising the steps of:

storing a set value for each body part, wherein said set value corresponds to a unit sample of the walking motion in three-dimensional virtual space, wherein one step of the walking motion includes a plurality of unit samples;

calculating the viewpoint of the human model for each unit sample of the walking motion in order according to a present basis point and the set value for each body part of the human model for the unit sample of the walking motion;

calculating the display position corresponding to the viewpoint of the human model in the three-dimensional virtual space for each unit sample for the walking motion; and

displaying the virtual environment in three-dimensional virtual space along the display direction from the calculated display position to the reference point, wherein the display direction is changed in synchronization with change of the viewpoint of the human model by the unit sample of the walking direction.

16. Virtual object display method for displaying a virtual object from a display position moving along a fixed direction in three-dimensional virtual space, a plurality of virtual objects being previously located surrounding the fixed direction, comprising the steps of:

storing object information of the virtual object viewable from each of predetermined positions along the fixed direction in the three-dimensional virtual space;

calculating the display position for moving in sequence along the fixed direction according to a predetermined speed of the display position;

selecting the virtual object to be viewed from the calculated display position according to a distance between the calculated display position and a position of each stored object to be viewed whenever the calculated display position coincides with one of the predetermined positions along the fixed direction;

displaying the virtual space along the fixed direction from the calculated display position when the calculated display position does not coincide with all of the predetermined positions alone the fixed direction while moving along the fixed direction; and

displaying the selected object in the three-dimensional virtual space along a display direction from the calculated display position to a position of the selected object when the calculated display position coincides with one of the predetermined positions along the fixed direction while moving along the fixed direction.

17. Virtual object display method for displaying a virtual environment from a display position behind a head of a human model walking in three-dimensional virtual space, comprising the steps of:

calculating a view direction and a viewpoint of the human model according to a present display position and a present reference point of the human model, wherein the present display position is fixedly located behind the head of the human model, wherein the present reference point is located forward of a walking direction, wherein the view direction is a direction from the present display position to the present reference point, and wherein the viewpoint is a center point for rotation of the head of the human model;

displaying the virtual environment along a present display direction from the present display position behind the head of the human model to the present reference point;

inputting a move instruction of the head of the human model, wherein the move instruction includes a rotation angle and a rotation direction of the head of the human model;

calculating a head rotation angle of the human model according to the move instruction;

calculating a next display position and a next reference point, wherein the next display position is determined by rotating the present display position by the head rotation angle based on the viewpoint, and wherein the next reference point is determined by rotating the present reference point by the head rotation angle based on the viewpoint;

rotating the head of the human model according to the head rotation angle and the rotation direction; and

displaying the virtual environment along a next display direction from the next display position behind the rotated head of the human model to the next reference point.

18. A computer-readable memory for storing a display method for displaying a virtual environment along a display direction from a display position to a reference point in three-dimensional virtual space, the display position being fixedly located behind a viewpoint of a walking human model relative to a walking direction, the reference point being located forward of the walking direction, the human model consisting of a plurality of body parts in three-dimensional virtual space, comprising:

instruction means for causing a computer to store a set value for each body part, wherein said set value corresponds to a unit sample of the walking motion in three-dimensional virtual space, and wherein one step of the walking motion consists of a plurality of the unit samples;

instruction means for causing a computer to calculate the viewpoint of the human model for each unit sample of the walking motion in order according to a present basis point and the set value for each body part of the human model for the unit sample of the walking motion;

instruction means for causing a computer to calculate the display position corresponding to the the viewpoint of the human model in the three-dimensional virtual space for each unit sample of the walking motion; and

instruction means for causing a computer to display the virtual environment in the three-dimensional virtual space along the display direction from the display position to the reference point, wherein the display direction is changed in synchronization with change of the viewpoint of the human model by the unit sample of the walking direction.

19. A computer-readable memory for storing a display method for displaying a virtual object from a display position moving along a fixed direction in three-dimensional virtual space, plurality of virtual objects being previously located surrounding the fixed direction, comprising:

instruction means for causing a computer to store object information of the virtual object viewable from each of predetermined positions along the fixed direction of motion of a viewpoint in the three-dimensional virtual space;

instruction means for causing a computer to calculate the display position for moving in sequence along the fixed direction according to a predetermined speed of the display position;

instruction means for causing a computer to select the virtual object to be viewed from the display position according to a distance between the calculated display position and a position of each stored object to be viewed whenever the calculated display position coincides with one of the predetermined positions along the fixed direction;

instruction means for causing a computer to display the virtual space along the fixed direction from the calculated display position when the calculated display position does not coincide with all of the predetermined positions along the fixed direction while moving along the fixed direction; and

instruction means for causing a computer to display the selected object in the three-dimensional virtual space along a display direction from the calculated display position to a position of the selected object when the calculated display position coincides with one of the predetermined positions along the fixed direction while moving along the fixed direction.

20. A computer-readable memory for storing a display method for displaying a virtual environment from a display position behind a head of a human model walking in three-dimensional virtual space, comprising:

instruction means for causing a computer to calculate a view direction and a viewpoint of the human model according to a present display position and a present reference point of the human model, wherein the present display position is fixedly located behind the head of the human model, wherein the present reference point is located forward of a walking direction, wherein the view direction is a direction from the present display position to the present reference point, and wherein the viewpoint is a center point for rotation of the head of the human model;

instruction means for causing a computer to display the virtual environment along a present display direction from the present display position behind the head of the human model to the present reference point;

instruction means for causing a computer to input a move instruction of the head of the human model, wherein the move instruction includes a rotation angle and a rotation direction of the head of the human model;

instruction means for causing a computer to calculate a head rotation angle of the human model according to the move instruction;

instruction means for causing a computer to calculate a next display position and a next reference point, wherein the next display position is determined by rotating the present display position by the head rotation angle based on the viewpoint, and wherein the next reference point is determined by rotating the present reference point by the head rotation angle based on the viewpoint;

instruction means for causing a computer to rotate the head of the human model according to the head rotation angle and the rotation direction; and

instruction means for causing a computer to display the virtual environment along a next display direction from the next display position behind the rotated head of the human model to the next reference point.