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Image display apparatus, method and program based on rigid body dynamics

  • US 7,610,182 B2
  • Filed: 03/09/2001
  • Issued: 10/27/2009
  • Est. Priority Date: 03/10/2000
  • Status: Active Grant
First Claim
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1. A computer-implemented method, using a computer having at least a processing unit and a memory, for determining motion of simulated objects each of which is represented by a data structure indicating characteristics of the simulated object, wherein each of at least some of the simulated objects have visual characteristics and simulated physical characteristics and wherein the motion of the simulated objects is to be in compliance with a physics model and is to be represented on a display device such that a viewer perceives the motion of the simulated objects in compliance with the physics model, the method comprising:

  • storing, in the memory, position parameters and velocity parameters, the position and velocity parameters defining an initial state of the physics model and the simulated objects;

    storing, in the memory, constraint parameters defining at least one constraint function constraining the motion of the simulated objects according to the physics model, wherein the constraint parameters include at least one position constraint constraining the motion of the plurality of rigid bodies;

    calculating, using the processor, the position and velocity parameters defining the state of the simulated objects after a predetermined time step based on rigid body dynamics, including;

    a) carrying out a semi-implicit integration step subject to the constraints constraining the motion of the simulated objects, to determine the velocity after the step; and

    b) determining constraint forces that act to keep the simulated objects in compliance with the constraints by ensuring that the first derivative of the constraint function is zero;

    generating, using the processor, at the end of the predetermined time step, a screen image of a series of screen images for display on the display device, the screen image displaying a view of the simulated objects such that the viewer can perceive the motion of the simulated objects in compliance with the physics model, the screen image being based on the calculated position and velocity parameters defining the state of the simulated objects at the end of the predetermined time step; and

    displaying the screen image on the display device;

    wherein the physics model includes a model of friction in which the frictional force between a pair of objects is independent of a normal force between the objects for both elastic and inelastic collisions.

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