Systems and methods for sculpting virtual objects in a haptic virtual reality environment

• US 7,889,195 B2
• Filed: 08/17/2007
• Issued: 02/15/2011
• Est. Priority Date: 07/17/1998
• Status: Expired due to Term

• Current Assignee: 3D Systems, Inc. (3D Systems Corporation)
• Original Assignee: SensAble Technologies, Inc. (3D Systems Corporation)
• Inventors: Shih, Loren, Shannon, Walter C. III, Massie, Thomas H., Aviles, Walter A.
• Primary Examiner(s): Nguyen; Phu
• Application Number:
  US11/840,491
• Publication Number:
  US 20080088620A1
• Time in Patent Office: 1,278 Days
• Field of Search: 345/419, 715/702, 715/757
• US Class Current: 345/419
• 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 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• 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: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• 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 2210/28 Force feedback
• CPC Class Codes: G06T 2219/2021 Shape modification

Abstract

A user of a virtual object or computer model uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact and modify the virtual object. The user uses the virtual tool in a sculpting mode to modify the shape of the virtual object by adding, removing, or modifying the material of the object. The user feels an interaction force from the virtual tool as it interacts with and modifies the virtual object. The designer can set geometric constraints, such as a constraint point, constraint line, or constraint surface, to limit or guide the movement of the virtual tool.

Claims

1. A system for modifying a virtual object in a virtual environment, the system comprising:

a haptic interface device;

a memory for storing code that defines a set of instructions; and

a processor for executing the set of instructions to;

(a) generate a virtual object in a virtual environment;

(b) determine a position of a virtual tool in the virtual environment in response to a location of the haptic interface device in real space, wherein the virtual tool comprises a plurality of discrete point locations for sensing penetration into the virtual object; and

(c) reposition the virtual tool substantially tangent to a surface of the virtual object substantially at the start of a modification of the virtual object.

2. The system of claim 1, wherein the code comprises instructions to determine a force feedback according to the position of the virtual tool in relation to the virtual object.

3. The system of claim 2, wherein the code comprises instructions to send the force feedback to a user through the haptic interface device.

4. The system of claim 1, wherein the haptic interface device comprises at least three degrees of freedom of force feedback.

5. The system of claim 1, wherein the haptic interface device comprises at least six degrees of freedom of force feedback.

6. The system of claim 1, wherein the haptic interface device senses six degrees of freedom.