JP3104582B2 - Image processing apparatus and method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image processing apparatus and an image processing method, and more particularly to an image processing apparatus and a method for improving a moving display processing technique of a character commonly used in a game apparatus and the like.

[0002]

2. Description of the Related Art Generally, an image processing apparatus of this kind is an apparatus for moving and displaying a figure (display body) displayed on a screen in response to an operation signal. A memory for storing data such as coordinates to be stored, and for storing other necessary data and processing programs;
An operation panel that determines the moving state of the figure or outputs an operation command for operating the figure, and moves a predetermined figure on the screen of the display device according to various data and processing programs in the memory based on the operation command. And a data processing device for executing a display process for displaying while displaying the result of the display as a display signal. The figure includes a part as a part and a character as an aggregate of parts.

When the power of such an image processing apparatus is turned on,
When a predetermined operation is performed on the image processing apparatus, the data processing apparatus operates according to a program in the memory and executes the following processing.

When an operation command is given to the data processing device from the operation panel, the data processing device transmits necessary movement state data among various movement state (motion) data of the character in the memory based on the operation command. A process for moving the character on the screen of the display device while taking out and combining a plurality of parts is executed.

[0005] The image processing apparatus forms a display signal of a screen including a processing result on another screen displayed according to a program or the like, and supplies the display signal to the display device. As a result, the character moves within a predetermined background on the screen of the display device. Each part is defined in the body coordinate system, which is model-transformed into the world coordinate system, and then subjected to field-of-view transformation to become a figure displayed on the screen.

In the above-described conventional image processing apparatus, in order to move a character on the screen of a display device, several types of factors necessary for modeling conversion are required for each aspect of each part in motion. Prepare it, store it in a table and store it in memory, take out all the motion data related to parts from the table based on the operation command from the operation panel, and move and display the parts on the screen of the display device based on this As a result, the character was displayed while being moved.

[0007]

However, in the conventional image processing apparatus, a large amount of data is required for each motion of each part character in order to move the character on the screen of the display device. There is a disadvantage that the storage table becomes large in capacity and a large capacity memory is required. Therefore, great effort and time are unavoidable in creating such a table.

Therefore, in the conventional image processing apparatus, since the amount of motion data indicating the moving state of the character is limited, for example, the type of motion is limited, or a fine motion cannot be achieved. In the case of a character that is expected to have various and free movements such as a joint such as a character similar to a human body, the movement cannot be sufficiently expressed. Further, since a great deal of labor and time are required to create the table, it is not easy to change or adjust the movement of the character.

Further, since a large amount of data of each motion is prepared and stored for each motion of each character, the processing time for displaying the character becomes long and the image display is delayed.

In order to solve such a problem, the present invention provides an image processing apparatus capable of expressing the movement of a character in various ways without increasing the amount of data necessary for moving and displaying the character. The purpose is to:

It is another object of the present invention to provide an image processing apparatus capable of shortening a processing time for displaying a character and quickly executing image display. It is another object of the present invention to provide an image processing method that can achieve these objects.

[0012]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides an image processing apparatus configured to display a predetermined figure while moving the figure. A reference point memory for storing a reference point serving as a reference for displaying a figure, a control point memory for storing a control point for determining another position of the figure with respect to the reference point, and outputting a movement command to the figure Operating means for performing the image processing for arranging the figure in a coordinate system area determined by the reference point and the control point based on the movement command.

Preferably, the image processing apparatus preferably stores coordinate data of a reference point read from the reference point memory and the control point memory in response to a series of movements of the figure determined based on the movement command. The apparatus further includes angle calculating means for calculating an angle formed by the graphic with respect to a predetermined coordinate system from the coordinate data of the control point, and arranging means for arranging the graphic at the determined angle.

The angle calculating means calculates an angle formed by the control point with respect to the coordinate system of the reference point, and the arranging means arranges the figure with this angle from the reference point.

The image processing apparatus according to the present invention further includes a memory for storing data for displaying the figure in a predetermined coordinate system in advance, and the image display processing means includes:
The figure formed by this data is arranged in the coordinate system area.

The angle calculating means calculates relative coordinates of the control point with respect to the reference point by multiplying an absolute matrix of the control point by an inverse matrix of the matrix of the reference point, and calculates the angle from the relative coordinates.

The figure is preferably a character formed by connecting a plurality of parts. The reference point is provided on a part on the base end side with respect to the main body of the character, and the character is formed on the part on the tip side with respect to the body. The control point is provided for this. The image display processing means includes connection point calculation means for calculating a connection point between parts, and the angle calculation means calculates a connection angle between the parts at the connection point, and the connection point is defined as the reference point. An angle formed with respect to the reference coordinates is calculated, and the arranging unit arranges the base-side part with this angle from the reference point and arranges another part with the connection angle from the connection point.

The image display processing means includes control point changing / setting means capable of changing or setting the control point to a desired position. The angle calculating means calculates the angle based on a skeleton having data of a length defined for the figure.

The image display processing means is responsive to a series of movements of the figure determined based on the movement command,
Matrix calculation means for obtaining a matrix for a predetermined coordinate system of the figure from the coordinate data of the reference point and the coordinate data of the control point read from the reference point memory and the control point memory; And arranging means for arranging.

The matrix calculating means calculates a matrix formed by control points of the reference point with respect to the coordinate system, and the arranging means arranges the figure based on the matrix. The matrix calculation means calculates relative coordinates of the control points with respect to the reference point using a transposed matrix of the matrix of the reference points, and calculates the matrix from the relative coordinates.

The matrix computing means computes a matrix of parts at a connection point by applying a matrix computation to the matrix of the control points, and applies a matrix computation to a matrix of connection points of the parts to produce other parts. The arrangement means arranges the character in a predetermined coordinate system based on the matrix of each part.

According to the image processing apparatus and the method thereof according to the present invention, based on a movement command, data of a reference point serving as a reference for displaying a figure from a reference point memory is read, and other than the figure corresponding to the reference point. The data of the control point for determining the position is read out from the control point memory, and an image display process for displaying a graphic in a coordinate system area determined by the reference point and the control point is performed.

Therefore, if the reference point and the control point are determined, the moving display of the figure becomes substantially possible, so that the data amount required for the moving display can be reduced, and
By changing and setting the control points to desired positions, it is possible to realize various and free movements of the graphic.

According to the present invention, the coordinate data and the control point of the reference point of the figure read from the reference point memory and the control point memory corresponding to a series of movements of the figure determined based on the movement command. , The angle of each figure with respect to a predetermined coordinate system is calculated from the coordinate data, and the figure is arranged at the obtained angle. Therefore, even if this angle is not stored in advance, this angle is calculated every time the figure is moved, and the figure can be displayed at the calculated angle.

By calculating this angle as the angle of the reference point with respect to the coordinate system, the figure can be accurately arranged with this angle with respect to the reference point.

The graphic data is stored in a predetermined coordinate system in advance,
By arranging a graphic formed by this data in the coordinate system area, it is possible to omit the creation and storage of coordinate data corresponding to the movement state of each point constituting the graphic in advance. This data includes sprite data for defining a two-dimensional figure and polygon data for defining three-dimensional data.

The relative coordinates of the control point to the reference point are calculated by multiplying the absolute coordinates of the control point by the inverse matrix of the reference point matrix, and the angle is calculated from the relative coordinates. Thereby, the angle formed by the control point with respect to the coordinate system of the reference point can be easily and quickly obtained. By setting the reference point on the base end side of the character and the control point on the front end side of the character, the movement of the character can be made closer to that of a human body.

The character is constructed by connecting a plurality of parts. The reference point is provided for a base part, and the control point is provided for a tip part. Is calculated, the connection point between the parts is calculated, the connection angle between the parts at this connection point is calculated, and the angle formed by the connection point with respect to the reference coordinates of the reference point is calculated, By arranging parts at this angle from the reference point and arranging other parts at the connection angle from the connection point, even if multiple parts are connected to form one character, Just set the control point and
The movement status of the character can be displayed.

The image display processing means may further include a reference point of the character read from the reference point memory and the control point memory corresponding to a series of movements of the character (graphic) determined based on the movement command. From the coordinate data of the control point and the coordinate data of the control points, and a matrix operation means for obtaining a matrix of the character in a predetermined coordinate system, and an arrangement means for arranging the character in the obtained matrix.

Further, the matrix calculation means focuses on the fact that a matrix obtained by rotating the coordinate system on a certain coordinate axis becomes a transposed matrix of a matrix obtained by rotating the matrix on another coordinate axis. The cosine value and the sine value for performing the matrix operation are calculated, and the matrix operation is performed based on the cosine value and the sine value, thereby directly forming the matrix formed by the control points with respect to the reference point coordinate system. It is calculating. The arrangement means arranges the characters based on the matrix.

In the case where the character is formed by connecting a plurality of parts, the reference point is provided for the base part and the control point is provided for the tip part. When points are provided, the matrix calculation means performs a matrix calculation on the matrix of the control points to calculate a matrix of parts at connection points as described above, and converts the matrix of connection points of the parts into a matrix. The matrix of another part is calculated by applying the matrix calculation. As described above, the matrix of the parts is also directly calculated for the connection points.

[0032]

Embodiments of the present invention will be described below with reference to the drawings.

<Description of First Embodiment> [Structure of Apparatus] In FIG. 1, an image processing apparatus 1 is roughly divided into a display device (display) 2 for displaying characters Ca, Cb, etc., and various data, tables and A memory 3 for storing a program, an operation panel 4 for giving an operation signal for a movement instruction to the character Ca or Cb displayed on the display 2, and various data in the memory 3 based on an operation instruction from the operation panel 4. A data processing device 5 that creates display data by referring to the display data and provides the display data to the display 2. Each device is configured as follows.

The display 2 is connected to the data processing device 5 and includes characters Ca, Cb and other screens (for example, a background screen (BG)) according to the display signal supplied from the data processing device 5. Is displayed as one screen 6. Here, the memory 3 has three-dimensional coordinate data as data for constituting a character, and the data processing device creates a figure viewed from a predetermined viewpoint.

[Description of Character Structure] FIG. 2 is a diagram for explaining the structure of the character Ca or Cb. When the characters Ca or Cb are collectively referred to as "C" hereinafter. The character C is designed for the human body, and includes, for example, a waist part U1, a chest part U2, a head part U3, a left arm part U4, and a right arm part U.
5, a left leg part U6, and a right leg part U7. In addition, when the parts are collectively referred to, they will be represented by “U” below.

In this embodiment, each part U is defined around one or two bones between a reference point and a control point (both will be described in detail later). The part U is composed of a part composed of one bone and a part composed of two bones. The former has head, chest, and waist parts, and the latter has left and right arms and left and right legs.
In this embodiment, the expression "bone" is used for convenience because a human body is assumed as a character.

The coordinate data relating to the reference point T and the control point S
When there are two bones and two bones to be arranged between the reference point T and the control point S, the arrangement of the parts is defined by the angle between the bones.

In this embodiment, as will be described in detail later, the angles of the bones of the parts of each part in a predetermined coordinate system are calculated and obtained based on the data on the control point S and the reference point T. Is arranged between the reference point T and the control point S according to the following. Here, the reference point T is a reference when defining each part, and is set near the base end of each part. The control point S is a point for determining another position of each part with respect to the reference point T, and is set near the tip of each part.

Each reference point is composed of a group of relative coordinate data corresponding to a trajectory of a series of movements of each part. Each control point corresponds to a series of movements of each part or is related to this movement. Rather, it is composed of a data group at a predetermined position occupied by the tip of each component in the course of a series of movements. In the present embodiment, the control point data is composed of an absolute coordinate data group in an absolute coordinate system.

The data constituting the reference point includes, in addition to the relative coordinate data, a relative angle formed by the coordinate system of the reference point with respect to the absolute coordinate system.

The reference points of the parts U2 to U7 other than the waist part U1 are defined by relative coordinate data from the reference point T1 of the waist part U1. The reference point T1 of the waist part U1 is a reference for other parts,
It is specified by the absolute coordinate data in the absolute coordinate system and the angle formed by the coordinate system centered on the reference point T1 formed with respect to the absolute coordinate system.

The bone B corresponding to each part has length data L, and the length data L is registered in the X axis direction traveling direction of another predetermined coordinate system. Therefore, for example, an angle formed between the reference point T and the control point S with respect to the Y axis and the Z axis of the XYZ orthogonal coordinate system is calculated, and the bone registered in the predetermined coordinate system according to the angle is calculated. If the data of B is converted into the coordinate system of the reference point T,
The part will be defined between the reference point and the control point.

From this idea, regarding the character C, for example, the waist part U1 is defined around the bone B1 between the reference point T1 and the control point S1, and the chest part U2 is defined as the control point T1. The head part U3 is defined around the bone B2 between the point S2 and the reference point T3 and the control point S3.
And two parts U4 of the left arm connect two bones B41 and B42 between the reference point T4 and the control point S4 at a connection point (joint) Q4. Defined around these bones, the two parts U5 of the right arm are located between the reference point T5 and the control point S5.
2 connected at connection point Q5, defined around them,
The two parts U6 of the left leg have two bones B61 and B62 connected at the connection point Q6 between the reference point T6 and the control point S6. The part U7 has two bones B7 between the reference point T7 and the control point S7.
1, B72 are connected and arranged at the connection point Q7, and are defined around these.

In the character C, one of the parts U1 to U7 of each part is selected as a basic part, and the other parts are attached parts. As a basic part, a series of movements of the character at times t1 to t13 engraved at fixed time intervals (this series of movements are referred to as "motion". An example of this "motion" is illustrated in FIG. 3). Among them, a central part is preferable, and for example, a waist part U1 is preferable. The chest part U2 may be used. In the present embodiment, the waist part U1 is used as a basic part for convenience.

The coordinate data with respect to the reference point T or the control point S at each time t1, t2,... In the motion of each part is calculated by a predetermined spline function, so that each time between the times is calculated. The amount of data at points T and S can be drastically reduced, and each motion can be expressed smoothly.

For example, FIG. 3 shows the control point S5 and the reference point T5 of the part U5 of the right arm as representatives, and the trajectory of the reference point and the control point for each motion data is calculated each time by a spline function. Alternatively, if the data is stored as data, a smooth motion can be expressed as indicated by a broken line and a dashed line.

Here, the spline function is a function for forming a smooth curve between points called nodes. The curve for each node is represented by a set of polynomials of the following equations (1) to (3), for example. Different polynomials can be given for each node.

X = a ₀ + a ₁ t + a ₂ t ² +... + A _n t ⁿ (1) y = b ₀ + b ₁ t + b ₂ t ² +... + B _n t ^n. _{·· (2) z = c 0} + c 1 t + c 2 t 2 + ····· + c n t n ··· (3) a 0, a 1, a 2, ·····, a n: predetermined B ₀ , b ₁ , b ₂ ,..., B _n : predetermined constants c ₀ , c ₁ , c ₂ ,..., C _n : predetermined constants x: x-axis coordinates y: coordinates on the y-axis z: coordinates on the z-axis t: a parameter that fluctuates between nodes in the range of 0 ≦ t ≦ 1 Thus, the spline function is a piecewise polynomial function,
The ease of differentiation and integration facilitates the creation of the required smooth curves in computer graphics technology. That is, a smooth motion can be given to a character by defining a node as a reference point or a control point and defining between the reference point and the reference point and between the control point and the control point by using the spline function.

The character C arranges the reference point T1 of the waist part U1 in a three-dimensional absolute coordinate system, and arranges the reference points T2 to T7 of the parts U2 to U7 relative to the reference point. The parts are connected to the waist part U1, so that the whole can be displayed as a character whose shape changes.

[Detailed Description of Memory 3] FIG.
And a predetermined storage area in the lower part U1
And a control point memory 3 for each of the parts U1 to U7.
2, a reference point memory 33 for accessory parts U2 to U7 other than U1, and a bone data memory 34 for storing bone forming data
FIG. 9 is an explanatory diagram showing an example of an auxiliary memory 35 that stores data necessary for finally defining the entire character (warrior) from defined bones.

The motion data memory 31 stores a plurality of motion data # 1, # 1 corresponding to different motions (jump, running, etc.) of the character C.
# 2, ... are stored. This motion data memory 3
1 includes three-dimensional absolute coordinates of a reference point of the waist part U1, which is the basic part, for each aspect of a series of motions for each of a plurality of motions, or additionally, coordinates centered on the reference point. The angle formed by the system with respect to the absolute coordinate system is stored. The absolute coordinate system refers to a world coordinate system. FIG. 3 shows an example of the motion.

The motion data # 1, # 2,.
For example, 500 to 700 for one character C
If it prepares to the extent, even if it expresses the movement of a warrior, it seems that it covers almost all the normally expected motions.

The control point memory 32 stores the absolute coordinate data of the control points S of the waist part U1 and the other attached parts U2 to U7. The reference point memory 33 stores relative coordinate data of the reference point T of the other attached parts U2 to U7 with respect to the reference point of the waist part U1, or, in addition, the reference coordinate system of each reference point is relative to the absolute coordinate system. I remember the angle made. The relative coordinate data is given by three-dimensional coordinate data for the reference point of the waist part U1.

The bone data memory 34 stores, for all the parts U1, U2, U3,..., The bones B1, B2, B3, B41, B42,
Data relating to the length L (see FIG. 2) of each of B51, B52, B61, B62, B71, and B72 and other necessary data are stored. In addition, these bones B1, B
2, B3, B41, B42, B51, B52, B61,
As described above, B62, B71, and B72 are registered in the traveling direction of the X axis in the predetermined XYZ coordinate system.

In this embodiment, a three-dimensional figure of a character (shape of a warrior) is defined by defining meat (namely, parts forming a shape) with respect to a bone. For example, when a figure of the upper arm is defined in the body coordinate system and the model is converted into a model in the world coordinate system, for example, a plurality of polygons forming parts of the upper arm are used as humeral bones (B41 or B5).
1), for example, it is arranged relatively to the center of gravity. Thereafter, the field of view of the warrior is changed and displayed on the display.
The auxiliary memory 35 stores coordinate data of a polygon forming a three-dimensional shape for each part. In the present embodiment, the bone is for arranging (defining) a part in the world coordinate system based on the reference point and the control point, and the bone itself is not usually arranged in the world coordinate system.

In the auxiliary memory 35, data E1, E2, E3,...
Data F1 and F2 expressing material (grain, metal surface, etc.)
, F3,..., And other data relating to display characteristics.

As shown in FIG. 1, a motion data memory 31, a control point memory 32, a reference point memory 3
3. The memory 3 including the bone data memory 34 and the auxiliary memory 35 is connected to the data processing device 5, and in addition to various data for three-dimensionally displaying the character C, other necessary data (for example, background) Data for displaying an image) and a processing program. The data processing device 5 is configured to execute necessary image processing operations by these programs.

The operation panel 4 is connected to the data processing device 5 so that an operation command for operating a warrior composed of characters Ca and Cb is formed and given to the data processing device 5. Here, the operation command mainly includes an output for moving the warrior.

The data processing device 5 stores the memory 3 (the motion data memory 3) based on an operation command from the operation panel 4.
1, a process for moving and displaying the character C on the display 2 in accordance with various data and a processing program in the control point memory 32, the reference point memory 33, the bone data memory 34, and the auxiliary memory 35). A screen including the processing result is output to the display 2 as a display signal Vd.

The data processing device 5 includes a CPU 50 for executing various processes.
It operates according to various motion data and the like and programs in the memory 3 to realize a motion selection unit (means) 51, a coordinate position determination unit (means) 52, an angle calculation unit (means) 53, and an image output control unit (means) 54. .

[Explanation of Functional Blocks of Image Processing Apparatus] Each unit (means) realized by the data processing apparatus will be described in detail with reference to FIG. FIG. 5 shows a functional block diagram of the image processing apparatus 1.

In FIG. 5, the CPU 50 executes a predetermined operation program in the memory 3 to
And reads a predetermined motion from a plurality of motions of the character C from the motion data memory 31 of the memory 3 based on the operation command. Specifically, the CPU 50 implements the motion selection unit 51 that selects a data group (coordinate data and the like) relating to the reference point of the part U1 in the selected motion.

Reference numeral 52 denotes a coordinate position determination unit. This unit stores a reference point for each of the parts U1 to U7 at a predetermined timing (one of (a) to (m) in FIG. 3) during the selected motion in a reference point memory 3
3 is read out in the form of relative coordinates. Similarly, the control points of the parts U1 to U7 corresponding to the motion and the timing are read out from the control point memory 33, and based on these data, each part is displayed in the display coordinate system of the display. 1 shows a coordinate position determination unit that determines a coordinate position for moving and displaying. The coordinates of the reference points of the parts U1 to U7 are converted into the form of absolute coordinates, and stored together with the coordinates of the control points in the display matrix memory (MD).

Reference numeral 53 denotes an angle calculator for calculating the angle of the bone B of each part with respect to the coordinate system of the reference point from the coordinate data of the reference point and the control point for each part. With this angle calculation unit, an angle in one mode during a predetermined motion is continuously calculated. This angle is also sequentially stored in the display matrix memory (MD) each time the calculation is performed.

This display matrix is a RAM of the memory 3.
As shown in FIG. 7, the coordinate data of the reference point and the angle of the bone with respect to the reference point are stored for each part and for each mode in each motion. Is done.

The image output control unit 54 shown in FIG.
Based on the coordinate data obtained by the coordinate position determination unit 52 and the angle obtained by the angle calculation unit 53, a movement display process of each component, and furthermore, a movement display process of a character composed of an assembly of each component is executed. That is, the image output control unit executes a process for sequentially displaying the contents of the matrix MD on the CRT 2. The image output control unit fetches the data of the corresponding bone from the data memory 34 and uses the angle calculated from the reference point. Execute the process to place parts.

The data processing device 5 is further provided with an image output control circuit 55. The image output control circuit 55 includes an image output control unit 5 of the CPU 50.
The display signal Vd is formed based on the character from the CPU 4 and the image signal from the CPU 50 and the image data stored in the ROM in the memory 3, and is provided to the display 2.

The operation of the embodiment of the image display processing apparatus configured as described above will be described. <Character creation operation> Fig. 6 shows the reference points of each part,
9 is a flowchart for sequentially calculating control points and angle data.

When the power of the image display processing device 1 is turned on and the required operation is performed on the image processing device 1, the data processing device 5 starts operating according to the operation program in the memory 3. Then, the CPU 50 realizes each of the units 51, 52, 53, 54. When an operation command is given to the data processing device 5 by operating the operation panel 4, the motion selection unit 51 realized by the CPU 50 executes the operation of the motion data memory 31 in the memory 3 based on the operation command. A specific motion data is selected from the predetermined motion data (step 101).

Next, based on the selected motion data, the coordinate position determining unit 52 corresponds to the first mode (FIG. 3A) of the series of movements of the part U1.
The control point S1 and the reference point T1 are extracted to determine absolute coordinate data (S102).

Next, in this embodiment, the angle calculation unit 53 calculates and determines the angle of the polygon (bone B1) in the coordinate system from the coordinate data of the control point S1 and the coordinate data of the reference point T1 ( S103). These coordinate data and angle data are stored in the display matrix MD in the memory 3 and also stored in the stack matrix memory (STM) (S104). Therefore, in the following description, after the data of each part is calculated,
While being sequentially stored in the display matrix MD, S
Since it is also saved in the TM, it is only necessary to simply store it in the display matrix MD without mentioning each time.

Then, the coordinate position determination unit 52
The TM is read and the reference point coordinate data of the waist part U1 in the STM is extracted (S105), and the reference point T2 of the chest part U2 connected to this waist part U1.
The absolute coordinate data of the reference point T2 of the chest part U2 is calculated from the relative coordinate data with respect to T1 (S106).
That is, the coordinate positions of the reference point T1 of the part U1 and the reference point T2 of the part U2 in the absolute coordinate system are determined.

Next, in this embodiment, the angle calculation unit 53 controls the control point S2 read from the control point memory 32.
And the relative coordinate data of the reference point T2 read from the reference point memory 33 as viewed from the reference point of the bone B2.
That is, the angle of the reference point in the coordinate system is calculated and determined (S107). These coordinate data and angle data are stored in the display matrix MD in the RAM of the memory 3 (S108). Thereafter, the same processing is executed for each part (S109 to S128).

As described above, in order to display the image of the upper body of the character by the processing of S101 to S120,
The coordinates of the reference point for each part, the coordinates of the control point, and the bone angle are calculated from these coordinates, and S121 to S1
By the process of 28, similar data for displaying the lower body of the character is calculated.

Therefore, when these series of processes are completed, the first mode of the predetermined motion (FIG. 3 (a))
Is calculated for all the parts, and at the same time, all the data are set and stored in the display matrix MD (see FIG. 7). Then, based on the contents of the display matrix, each part is displayed on the display as shown in FIG.
(A) is displayed on the screen.

<Angle Calculation Operation for Placing Parts>
Calculation of the angle of bone B in FIG. 6 (S103, S107, S107)
Regarding the operations of 111, S115, S119, S123, and S127), the parts (hip, chest,
The case will be described separately for the case of the head) and the case of the parts (right arm, left arm, right leg, left leg) composed of two bones B.

[Case of One Bone] FIG. 8 is a flowchart for determining an angle for arranging a component part consisting of one bone B. FIG. 9 shows the reference point T and the control point S
FIG. 10 is a conceptual diagram showing that control points exist in an absolute coordinate system (world coordinate system).
That is, it is a conceptual diagram illustrating that the control points are arranged in the coordinate system of the reference point.

As shown in FIG. 9, the absolute coordinates (x0, y0, z0) of the reference point T of a predetermined part U are generally x,
It is not at the origin of the y, z rectangular coordinate system. In addition, predetermined parts U
Also includes angle data. Therefore, the angle calculation unit 53 firstly sets the absolute coordinates (x
(1, y1, z1) is used to determine the relative coordinates of the control point S with respect to the reference point.

Then, the angle calculation unit 53 obtains the inverse matrix of the matrix constituting the coordinate system of the reference point T of the part U (S201). Next, the angle calculation unit 53
Is the absolute matrix of the control point S (x
By multiplying by (1, Y1, z1), relative coordinates (x2, y2, z2) of the control point in the coordinate system of the reference point are obtained (S202). The matrix of the coordinate system of the reference point is
It is characterized by the coordinate position of the reference point with respect to the origin of the absolute coordinate system and the angles of the x, y, and z axes formed by the coordinate system of the reference point with respect to the absolute coordinate system.

FIG. 10 shows that the reference point T of the part U coincides with the origin (0, 0, 0) of the x, y, z orthogonal coordinates, and the control point S is The state represented by the point (x2, y2, z2) is shown.
In such a state, the angle calculation unit 53 assumes a point Pa (x, 0, 0) on the x-axis represented by the following Equation 1.

[0081]

(Equation 1)

Then, the angle calculation unit 53 calculates x
The point Pa on the axis is rotated around the z-axis and the y-axis in the x, y, z orthogonal coordinate system in order in order to match the coordinate data (x2, y2, z2) of the control point S of the part U. The processing is executed (S203). By performing such processing, the angle determination unit 53 obtains the angle θZ that the bone B makes with respect to the z-axis and the angle θy that the bone B makes with respect to the Y-axis by using the following Expressions 2 and 3. (S20
4).

[0083]

(Equation 2)

[0084]

(Equation 3)

Here, the reference point is a point serving as a base end for placing the bone B, and the control point is a point at the tip. The angle corresponds to an angle for arranging parts based on the reference point.
The polygon data stored in the polygon data memory 34 is converted from the coordinate system in the memory into the coordinate system shown in FIG. 10 in consideration of the angle, thereby converting the reference point and the control point. Bone can be easily placed in between.

Therefore, the motion of the part U can be expressed only by storing the coordinate data of the reference point T and the coordinate data of the control point S. Original parts U
In order to reproduce the motion, the angle of the part itself needs to be stored in advance in addition to the reference point T and the control point S. However, in the present embodiment, this is not necessary, and the amount of stored data is reduced. be able to. In addition, by appropriately changing the control points, the angle of the bone with respect to the reference point can be realized to a desired value, and the movement of the joint can be easily realized in a character similar to a human body as in the present embodiment.

[Case of Two Bones] FIG. 11 is a flowchart for displaying a part composed of two bones.
FIG. 12 shows a part U having two bones Bn1 and Bn2 (where n is 4, 5, 6, 7 as shown in FIG. 2).
FIG. 5 is a diagram showing a state in which a reference point T is arranged at the origin (0, 0, 0) of a rectangular coordinate system. FIG. 13 shows the control point S of this part U.
Is moved to a point Pb (X1, 0, 0) on the X axis of the rectangular coordinate system. FIG. 14 shows two bones Bn1,
A connection point Q of Bn2 is connected to a virtual point Pc (JX3,
(0, 0). FIG. 15 is a diagram showing a state in which a connection point Q between the two bones Bn1 and Bn2 is viewed from the Y and Z planes of the rectangular coordinate system. In addition, two bones Bn1,
The part U with Bn2 has the right arm,
The left arm, right leg, and left leg are equivalent.

The angle calculation unit 53 starts the calculation on the assumption that the reference point T of the part U is at the origin (0, 0, 0) of the coordinate system of the reference point. The inverse matrix of the matrix of the reference point T of the part U is obtained, and the matrix is multiplied by the absolute coordinates of the control point S to obtain the relative coordinates (x0, y0, z0) of the control point (S301). This is shown in FIG.
This is the same as in FIG.

FIG. 12 shows a state in which the original absolute coordinates of the control point have been moved or converted to the relative coordinates (x0, y0, z0) of the part U with respect to the reference point by performing this calculation operation. ing. In such a state, as shown in FIG.
Assume a point Pb (X1, 0, 0) on the X axis. Then
The angle calculation unit 53 calculates the point (X1, 0, 0)
An operation of bringing the control point S of the part U is performed (S30).
2). That is, using Equations 4 and 5, around the Z axis,
When the coordinate system is rotated in the order around the Y axis, the control point S of the part U moves to a point Pb on the X axis as shown in FIG.

[0090]

(Equation 4)

[0091]

(Equation 5)

When such a state is reached, FIG.
As shown in the figure, the length of each bone Bn1 is L
1, the length of the bone Bn2 is L2, the length from the origin to the point Pb is L0, the angle between the bones Bn1 and Bn2 is θZ2, and using the cosine theorem, the connection points are expressed as shown in Equations 6 to 8. Q
And the angle θZ2 can be obtained (S3
03).

[0093]

(Equation 6)

[0094]

(Equation 7)

[0095]

(Equation 8)

In such a state, processing for returning the coordinate data of the connection point Q to the original coordinate system is executed. That is, Equation 2
And at angles θZ0 and θY0 calculated by Expression 3, and around the Z axis and the Y axis. As a result, as shown in Expression 9, the coordinate data (JX1, JY1, JJ1,
Z1) is obtained (S304).

[0097]

(Equation 9)

Next, in the angle calculation unit 53, the point Pb (X1, 0, 0) on the X axis is rotated in the order of Z and Y to match the connection point Q (JX1, JY1, JZ1). Find the angle. This is, as shown in FIG.
Has moved to a point Pc (JX3,0,0) on the X-axis. When such a state is reached, the angle calculation unit 53 uses Expressions 10 and 11 to express
The angles (θY1, θZ1) formed by the bone Bn1 with respect to the Y axis and the Z axis are calculated (S305).

[0099]

(Equation 10)

[0100]

[Equation 11]

Then, the bone Bn1 calculated in S305
By rotating the control point S (x0, y0, z0) in the order of the Y-axis and the Z-axis at a negative value (-θY1, -θZ1) of the angle (θY1, θZ1), the equation 12 is used. Thus, the coordinate data (x2, y2, z2) of the control point S can be calculated (S306).

[0102]

(Equation 12)

Further, using the data of the points obtained in the above-mentioned step 306, the bone B
The angle θX1 of n1 can be calculated (S307; FIG. 1)
5).

[0104]

(Equation 13)

The coordinate data (x2, y2, z2) of the control point S
When this coordinate system is viewed from the X-axis direction (when viewed as a Y, Z plane), the control point S
As shown in the figure, the point is shifted by an angle θX1 with respect to the Y and Z planes. By correcting this displacement by the angle θX1, the control point S can be made coincident with the Y and Z planes. This angle θX1 is an angle of the bone Bn1 with respect to the X axis.

In this way, the angle of the bone Bn1 is changed to θX1, θ
Y1, θZ1 and the angle of the bone Bn2 is π
−θZ2. Thus, while the bone Bn1 has three angles, the bone Bn2 has only the Z-axis angle.

The direction in which the bone Bn1 and the bone Bn2 bend is one.
In the case of the reverse of 80 °, the sign in Equation 7 is reversed,
Π is subtracted from the angle θX1 of the bone Bn1 (θX1−π), and the bone B
What is necessary is just to reverse the sign of the angle θZ2 of n2.

Since the angles of the bones Bn1 and Bn2 can be determined in this manner, the bone B is moved to the coordinate data at the positions of the reference point T and the control point S of the part U so as to have the angle. By arranging the bone Bn at the position
1, Bn2 is defined.

According to this embodiment, even with two parts defined from two bones, even with the use of one reference point and one control point, even a complicated movement of a joint at a joint point between two bones can be variously performed. And can be easily expressed.

Therefore, it is only necessary to store the coordinate data of the reference point T of the part U, the coordinate data of the control point S, and the data relating to the polygon. Since there is no need to store data up to all rotation angles around the axis and the Z axis, there is no need to store a large amount of data, and the angle can be changed only by calculating the angle by calculation. The degree of freedom increases.

As shown in FIG. 16, for example, the original coordinates of the control point S of the part U5 of the right arm are at the point AA and the wall W
If the coordinate data exceeds the coordinate data, the part is displayed as if the control point S part of the part were buried in the wall W when displayed as it is. However, CPU5
By realizing a control point position changing / setting unit in which 0 changes the position of the control point, the control point S can be easily changed to the surface position (point BB) of the wall W, and this point (BB) ), The arrangement angle of the bone B can be easily calculated from the data of the control point S.

Therefore, the control point S can be easily changed, and the degree of freedom in expressing the part U is increased. The CPU 5 stores the changed position of the control point in the control point memory 32.
Therefore, the control points are not only given in advance by the program, but also can be appropriately set and changed according to the movement display mode of the character.

Also, as shown in FIG. 17, an operation is performed to move the control point S of the part U from the point AC to the point BC with respect to the reference point T of the part U. In this case, according to the present embodiment, as described above, the arrangement angle of the bone B can be calculated only by bringing the control point S from the point AC to the point BC. Can be performed accurately, and the degree of freedom in expressing the part U increases.

As described above, as a result, the three-dimensional figure of the entire character composed of the parts U can be displayed in the absolute coordinate system. A matrix MD storing the data of the absolute coordinate system of each part U obtained in this way.
The image output control unit 54 (see FIG. 5) extracts data from the inside, and forms an image signal for defining the character C based on the data.

The image output control circuit 55 forms an image signal Vd including this image signal and other image data (for example, a background image) set and stored in the memory 3, and together with the display device control signal. These signals are output to the display 2. Thereby, the whole image of the character in the first mode among the selected motions is displayed.

Thereafter, based on the data of the waist part U1 in the second mode of the selected motion, the above-described processing is repeated to obtain the entire image of the character in the second mode ((b) in FIG. 3). )) Is displayed. By repeating this sequentially, it is possible to display the character form in all scenes (moments) constituting a series of motions of the selected motion (see FIG. 3). Then, when the processing for the last character mode ((m) in FIG. 3) ends, the display of the selected motion ends.

Therefore, by continuing such processing, the character C is set at time t1 as shown in FIG.
(A), at time t2, for example, as shown in FIG. 3 (b),...
At time t13, the character C is displayed in a shape as shown in FIG. 7M, for example, and the character C appears to be operating continuously on the display 2.

In the course of the processing shown in FIG. 6, the auxiliary memory 35 shown in FIG. 4 is sequentially referred to and stored data for specifying a predetermined color E, material F, etc. for the polygon defined for each part. Are read out to express these predetermined colors and textures.

[Advantages of the First Embodiment, etc.] As described above, in this embodiment, the character C is replaced with, for example, seven parts U
1 to U7, and for each part, for example, a waist part U1 is determined as a basic part, which is determined from an operation command and motion data 31 by a motion selection unit 511.
The motion position and the like of the basic part U1 are determined, and the reference point of the basic part is set in the three-dimensional coordinate system (world coordinate system) of the display space. The arrangement of each bone B in the absolute coordinate system is obtained by calculation with reference to the data of the control point memory 32, the reference point memory 33, and the bone data memory 34 based on the basic part U1. Character C can be constructed.

Therefore, by determining the data of the control point S of the part U forming the character C, each bone B
Since the arrangement of the polygons in the absolute coordinate system can be easily calculated by calculation, the degree of freedom in expressing the part U is increased, and the necessary display state for the character on the screen display of the display 2 can be easily obtained. it can.

In the case of an unfavorable display state on the screen of the display 2, the arrangement of the bone B on the absolute coordinates can be easily calculated simply by moving the coordinates of the control point S to a preferable position. Therefore, as described above, the degree of freedom in expressing the part U is increased, and the required data amount can be reduced.

Further, the motion data memory 31
By having motion data of the waist parts,
The character can be moved and displayed while reducing the processing time for displaying the image. The control point memory 3
Reference numeral 2 stores data of the control point S of the part U for each motion, and the control point S can be easily changed.

Since the memory is provided with a plurality of motion data and a predetermined motion data can be selected based on an operation command from the operation panel, the movement display of the character can be performed by the plurality of motions, thereby diversifying the movement display of the character. Can be further improved.

In the above embodiment, the control point S of the part U is given in absolute coordinates. However, it may be a relative coordinate with respect to the reference point T, or a specific base end (for example, the reference point of the waist part U). The coordinates may be relative to T1).

In the present embodiment, a plurality of polygons for constructing the shape of a warrior are model-converted based on a character composed of a set of a plurality of parts. However, the set of bones is assumed to be the shape of the warrior. Alternatively, polygons may be arranged. In the latter case, a plurality of polygons constituting the bone are defined assuming that the bone itself has the shape of a warrior.

<Second Embodiment> Next, an image processing apparatus according to a second embodiment of the present invention will be described. The first embodiment described above obtains the matrix corresponding to the motion after calculating the angle of each part, whereas the second embodiment determines the matrix of each part according to the motion. Is directly obtained. Hereinafter, the second embodiment will be described with reference to FIGS.

FIG. 18 is a functional block diagram showing a second embodiment of the image processing apparatus according to the present invention. In FIG. 18, the CPU 50 reads an operation command SS from the operation panel 4 by executing a predetermined operation program in the memory 3, and reads a plurality of characters C from the motion data memory 31 of the memory 3 based on the operation command. Select a predetermined motion from among the motions of
This realizes a motion selection unit 51 that selects a data group (coordinate data and the like) relating to the reference point of the part U1 in the selected motion. For this,
This is the same as in the first embodiment.

The output of the motion selection unit 51 is provided to a matrix operation unit 52a. The matrix operation unit 52a determines a predetermined timing (FIG. 3A) during the selected motion.
To (m)), the matrix Mt of the control points of the parts U1 to U7 and the control points of the parts U1 to U7 are read out from the memories 32 and 33, and based on these data, the display coordinate system is displayed on the display. A matrix ML for moving and displaying the parts is determined.
The matrix operation unit 52a stores the matrix ML in the display matrix (MD) and also in the stack matrix (STM). Also, the matrix operation unit 52a
Can continuously calculate the matrix M of the bone (B) in one mode during a predetermined motion.

The image output control unit 54 executes the movement display processing of each part and the movement display processing of a character composed of an assembly of each part from the matrix obtained by the matrix operation unit 52a. That is, this image output control unit 54 is
Is performed to sequentially display the contents of the CRT on the CRT. The polygon data of the corresponding part part is extracted from the data memory 34, and the processing of arranging the part at an angle calculated from the reference point is executed.

Further, the data processing device 5 is further provided with an image output control circuit 55. The image output control circuit 55 generates a display signal Vd based on a character from the image output control unit 54 of the CPU 50, an image signal from the CPU 50, and image data stored in the memory 3.
To be provided to the display 2.

<Character Creation Operation> FIG. 19 is a flowchart for sequentially calculating the matrix of each part. When necessary operations are performed on the image processing apparatus 1, the data processing apparatus 5 starts operating according to the operation program in the memory 3, and the CPU 50 realizes the units 51, 52, 53a, and 54. .

When an operation command is given to the data processing device 5 by operating the operation panel 4, the CPU 50
The motion selection unit 51 realized in step (1) selects specific motion data from predetermined motion data in the motion data memory 31 in the memory 3 based on the operation command (step 401).

Next, based on the selected motion data, the matrix operation unit 52a executes the control point S1 and the reference point corresponding to the first mode (FIG. 3A) of the series of movements of the part U1. Remove the matrix Mt ₁ with T1 data, and determines a reference position on the display, the coordinate data and the reference point T of the control points S1
The matrix M _L1 at the reference position of the bone B1 is calculated and determined based on the matrix Mt ₁ having the coordinate data of ₁ (S403). The matrix M _L1 thus obtained
Are stored in the display matrix MD in the memory 3 and in the stack matrix (STM) (S403).

Therefore, in the following description, after the data of each part is calculated, it is sequentially stored in the display matrix MD and is also saved in the STM.
It will be merely described that the information is simply stored in the display matrix MD without mentioning each time.

The matrix operation unit 52a
Reads the STM, extracts the reference point coordinate data of the waist part U1 in the STM (S404), and obtains the chest part from the coordinate data of the reference point T2 of the chest part U2 connected to the waist part U1 with respect to T1. Part U2
Is calculated (S405). That is,
The coordinate positions of the reference point T1 of the part U1 and the reference point T2 of the part U2 in the absolute coordinate system are determined.
Matrix M _L for each of these parts U1, U2 is stored in the display matrix MD in the memory 3 RAM (S406). Thereafter, the same processing is executed for each part (S407 to S421).

As described above, in order to display the image of the upper body of the character by the processing of S401 to S415,
Coordinates of the reference points of each part, the matrix ML for displaying bone B from the matrix M _t of the control point coordinates are calculated, and similar data for displaying the lower body of a character by processing of S416~S421 is It is calculated.

Therefore, when these series of processes are completed, the first mode of the predetermined motion ((a) of FIG. 3)
Is calculated, and all the data are set and stored in the display matrix MD at the same time. Then, by reproducing the contents of this display matrix on the display 2 by the image output control unit (arrangement unit) 54, the mode of FIG. 3A is displayed as a screen.

<Matrix M _L for arranging parts
Operation of Calculation> Calculation of Matrix ML of Polygon (Bone B) in FIG. 19 (S402, S405, S408, S4
11, S414, S417, and S420) for the operation of a part (hip, chest, head) composed of one bone B and the part composed of two bones B (right arm, left arm, right leg, left leg) The description will be made separately for the case.

[Case of One Bone] FIGS. 20 to 23 show a matrix M for arranging parts consisting of one bone B.
FIG. 4 is an explanatory diagram for determining the value. FIG. 20 is a flowchart for obtaining the matrix M. FIG.
FIG. 4 is an explanatory diagram when a reference point T and a control point S exist in a relative coordinate system. FIG. 22 is a diagram of FIG. 21 viewed from the Z-axis direction. FIG. 23 is a diagram in which a plane obtained by inclining the XY plane of FIG. 21 by θZ is viewed from the Y-axis direction.

The second embodiment utilizes the fact that a matrix M rotated in the order of -X, -Y, -Z becomes a transposed matrix of a matrix rotated in the order of Z, Y, X. . That is, when a certain matrix is rotated by multiplying by a rotation matrix having components of Rx, Ry, and Rz,
A matrix M rotated in the negative direction about the X axis, then in the positive direction about the Y axis, and then rotated in the positive direction about the Z axis is rotated in the positive direction about the Z axis. Then, the relative coordinates of the parts are obtained by using the point that the matrix is rotated in the positive direction about the Y axis and then the matrix rotated in the X axis direction is used. The angles are obtained, and a matrix calculation is performed using these angles, thereby obtaining a matrix M of the parts arranged on the absolute coordinates.

As shown in FIG. 9, the predetermined part U is represented by a matrix Ms of the absolute coordinates (x0, y0, z0) of the reference point T and the absolute coordinates (x1, y1, z1) of the control point S.
In addition, the absolute coordinates (x0, y0, z0) of the reference point T are generally not at the origin of the x, y, z orthogonal coordinate system.

Then, the relative coordinates of the part U are obtained (step 501). The relative coordinates are obtained by focusing on the following points. A matrix M ^-1 · which is a combination of a certain matrix M subjected to coordinate movement (T) and coordinate rotation (R).
M (= E) is, as shown in Expression 14,

[0143]

M ⁻¹ · M = (T ⁻¹ · R _z ⁻¹ · R _y ⁻¹ · R _x ⁻¹ ) · (Rx · Ry · Rz · T) = E That is, the matrix M is moved T by an inverse matrix,
And rotated (R) by the inverse matrix of z, y, x {M ^-1
= (T ^-1 · R _z ^-1 · R _y ^-1 · R _x ^-1 ) (inverse matrix)｝
x, y, rotating in z (R) is, and the matrix M that move _{T {M = (R x ·} R y · R z · T)} and the matrix E, which can be synthesized, such as: You can see that it has properties.

That is, the inverse matrix of the rotation (R) can be handled by reversing the sign of the angle. In addition, the inverse matrix of the movement (T) can be handled by reversing the sign of the coordinates.

The angular components (3 × 3) of the matrix rotated in the order of z, y, x are as follows: Cx = cos θ _x , Sx = sin θ _x , Cy = cos θ _y , S
If y = sin θ _y , Cz = cos θ _z , Sz = sin θ _z ,

[0146]

(Equation 15)

Is obtained. On the other hand, the matrix M rotated in the order of -x, -y, -z,

[0148]

(Equation 16)

Is as follows. From Equations 15 and 16,

[0150]

R00 = m00, r01 = m10, r02 = m20 r10 = m01, r11 = m11, r12 = m21 r20 = m02, r21 = m12, r22 = m22 This is because R _z ^-1 R _y ^-1 R _x ^-1 = t (R _x ,
R _y , R _z ). That is, -x,-
When the matrix M is rotated in the order of y, -z,
This means that the matrix M is rotated in the order of z, y, x, and becomes a transposed matrix.

Therefore, the absolute coordinates G (gx, g
y, gz) to the relative coordinates L (x0, y0, z0) of the control point S.
), The current matrix (reference point T
) Must be made as in Expression 18.

[0152]

(Equation 18)

When the moving component (m30, m31, m32) is subtracted from the absolute coordinates (gx, gy, gz) in such a current matrix, that is, x = gx
By setting −m30, y = gy−m31, and z = gz−m32, the current matrix (reference point T) can be assumed as the origin. Thereby, the reference point T can be set at the origin as shown in FIG.

Assuming that the control point S is in such a state, the relative coordinates L (x ₀ , y ₀ , z ₀ ) of the control point S are obtained. The relative coordinates L (x ₀ , y ₀ , z ₀ ) of the control point S are calculated based on Expression 18 as follows:

[0155]

Equation 19 can be obtained as _{x 0 = m00 · x + m01} · y + m02 · z y 0 = m10 · x + m11 · y + m12 · z z 0 = m20 · x + m21 · y + m22 · z.

The calculation in the second embodiment is as follows.
This is almost the same as the amount of calculation for ordinary coordinate movement. On the other hand, if the calculation is to obtain the relative coordinates after obtaining the inverse matrix as in the first embodiment, it takes about six times the calculation amount of the coordinate movement to obtain the inverse matrix, and furthermore, the calculation of the coordinate movement requires Because of the necessity, about seven times the calculation amount of the coordinate movement was finally required. However, as described above, this second
In the embodiment, the calculation amount is about 1/7 of the calculation amount of the first embodiment.
Can be shortened.

When the relative coordinates are calculated in this way,
sin θ _z , cos θ _z , sin θ _y , and cos θ _y can be easily obtained. Therefore, matrix calculation unit 52a first calculates a sin [theta _z, cos [theta] _z from Equation 20 (step 502). This is because, when the thing in FIG. 21 is viewed from the z-axis direction, as shown in FIG. 22, the hypotenuse is (x ₀ ² +
y ₀ ² ) ^1/2 , the length of the x-axis is x ₀ , and the length of the y-axis is y ₀ , so that sin θ _z and cos θ _z can be easily calculated.

[0158]

(Equation 20)

Similarly, the matrix operation unit 5
2a is calculated from the equation 21 sin [theta _y, the cos [theta] _y (step 502). When a plane obtained by inclining the xz plane by θ _z in FIG. 20 is viewed from the y-axis direction, the result is as shown in FIG. 22, where the hypotenuse is (x ₀ ² + y ₀ ² + z ₀ ² )
^1/2 , the z axis is z ₀ , and the axis orthogonal to the z axis is (x ₀ ² + y ₀ ² )
^{Since it is 1/2} , sin θ _y and cos θ _y can be easily obtained as in Expression 21.

[0160]

(Equation 21)

The sin θ _z , cos θ _z ,
Using sin θ _y and cos θ _y , the matrix operation unit 52a rotates the matrix Mc of the reference point by Z and Y using Expression 22 (step 503). Thereby, the matrix Ms of the control points S is

[0162]

(Equation 22)

Is obtained.

Normally, the matrix Ms of the control points S is rotated by giving an angle θ. However, since the matrix Ms is calculated after obtaining sin θ and cos θ, it is preferable that the matrix Ms be rotated by directly giving sin θ and cos θ. Is good.

Therefore, the matrix Mc of the reference points rotated by z and y is represented by the control point S
Of the matrix Ms. The matrix thus obtained may be a bone matrix M.

From another point of view, Mt is a reference point matrix, Ms is a control point matrix, Mb is a bone B matrix, Rz is a z-axis rotation, Ry is a y-axis rotation, and T is a coordinate movement ( Trans) and L are the length of the bone B, the matrix Mb of the bone B, the matrix Mt of the reference point T,
The following equation 23 shows the relationship between the control point matrix Ms.

[0167]

Mb = Ry · Rz · Mt Ms = T · Mb = (L, 0,0,1) · Mb Since the bone B extends in the x-axis direction, this is equivalent to the length L of the bone. The moved one becomes the matrix Ms of the control points S.

Here, the matrix Mt of the reference points T is expressed by the following equation (24).

[0169]

(Equation 24)

Is set. Therefore, the matrix Ms of the control points S of the bone B is

[0171]

Ms = T · Mb = T · Ry · Rz · Mt

Here, the coordinates of the control point S are represented by (x _S , y _S ,
z _S ), when the matrix Mt of the reference point T is moved and rotated,

[0173]

(Equation 26)

Will be given as As described above, in the present embodiment, when there is one bone, by obtaining the relative coordinates of the control point S with respect to the reference point T, sinθ _z , co
sθ _z , sin θ _y , and cos θ _y are obtained.
The matrix M of the bone B is calculated by calculating the coordinates of the control point S of the reference point T using the value of s.

[Case of Two Bone] FIG. 24 is a flowchart for displaying a part composed of two bones.
FIG. 25 shows a part U having two bones Bn1 and Bn2 (where n is 4, 5, 6, 7 as shown in FIG. 2).
FIG. 5 is a diagram showing a state in which a reference point T is arranged at the origin (0, 0, 0) of a rectangular coordinate system.

The matrix operation unit 52a firstly
Relative coordinates are obtained (step 601). The method of calculating the relative coordinates is exactly the same as the method of calculating one relative bone shown in FIGS. 9 and 21 to 23. When the relative coordinates of the control point S are obtained in this way, the reference point T of the part U is
It will be in a state of being arranged at the origin (0, 0, 0) of the rectangular coordinate system (see FIG. 25).

[0177] In FIG. 25, the length of the bone Bn1 L1, L0 the length of the bone Bn2, as a reference point T the length of the control points S and L1, if L (x _0, y coordinates of the control points S _0, z ₀₎ to become ^{_{L1 = (x 0 2 + y}} 02 + z 0 2) 1/2.

Then, for L 1, sin θ _z , cos θ
_z , sin θ _y , and cos θ _y are calculated (step 602).
This may be performed in exactly the same manner as the calculation method for a single bone described above, and the matrix operation unit 52a
Equation 20 is used for _z and cos θ _z , and sin θ _y and c
osθ _y is calculated using Equation 21.

[0179] matrix operation unit 52a is, sin [theta _z obtained as described _{above, cosθ z, sinθ y, cosθ} y
And a matrix calculation is performed to obtain a matrix M of length L1.
(That is, the matrix Ms of the control points S) can be obtained.

[0180] Then, the matrix M _b2 bone Bn2 is equivalent to a matrix Ms of the control point S is rotated by theta _z2 on the z-axis. Therefore, the matrix of the bone Bn2 is calculated next.

In FIG. 25, θ _z2 is a line segment L1 and a line segment L1.
0 and θ _z1 is the angle between bone Bn1 and bone Bn2. Therefore, the matrix operation unit 52
a is expressed by using the cosine theorem,
Calculate θ _z .

[0182]

[Equation 27]

In addition, since sin θ = ± (1−cos ² θ) ^{1/2 according} to the formula of sin ² θ + cos ² θ = 1, the matrix operation unit 52a calculates cos θ _Z2 after
The sin θ _z2 is calculated from the above equation (step 604). When the bone Bn2 bends in the positive direction, sin θ _z2 = + (1
−cos ² θ _z2 ) ^1/2 , and when the bone Bn2 bends in reverse, s
inθ _z2 = − (1−cos ² θ _z2 ) ^1/2

Next, the matrix operation unit 52a
Sin [theta _z2 obtained as described above, using the cos [theta] _z2, the calculation for the line matrix Ms of the control point S on theta _z2 only z-axis (step 605). For this calculation, the matrix operation unit 52a performs the calculation using Expression 28.

[0185]

[Equation 28]

Thus, the matrix of the bone Bn2 can be obtained directly without calculating the angle as in the first embodiment.

Next, the matrix M of the bone Bn1 will be determined. First, from the relationship in FIG. 25, when the cosine theorem is applied, cos θ _z1 becomes as shown in Expression 29.

[0188]

(Equation 29)

In addition, since sin θ = ± (1−cos ² θ) ^{1/2 according} to the formula of sin ² θ + cos ² θ = 1, the matrix operation unit 52a calculates cos θ ₂₁ after
The sin θ _z1 is calculated from the above equation (step 606). When the bone Bn1 bends in the positive direction, sin θ _z1 = −
(1−cos ² θ _z2 ) ^1/2 , and sin θ _z1 = + (1−cos ² θ _z1 ) ^1/2 when the bone Bn1 bends in the opposite direction.

Next, the matrix operation unit 52a
Sin [theta _z1 obtained as described above, using the cos [theta] _z1, (a connecting portion of the bone Bn1 and bone Bn2, matrix (R _z2 · Ms)) matrix M of the bone Bn2 calculations for the rotation by theta _z1 (Step 607). For this calculation, the matrix operation unit 52a performs the calculation using Expression 30.

[0191]

[Equation 30]

As a result, the matrix of the bone Bn1 can be directly obtained without calculating the angle as in the first embodiment.

[Advantages of the Second Embodiment] In the second embodiment, when each bone is actually arranged from the reference position, the matrix given to the bone can be directly obtained. This is because the first embodiment follows a path in which a matching process is performed after obtaining an inverse matrix, and thereafter, an angle is calculated, and a matrix of bones to be actually arranged is obtained from the angle and the like. On the other hand, in the second embodiment, relative coordinates are calculated with a calculation amount that is one seventh of that of the first embodiment, and sin and cos for rotation are obtained. Thus, since the matrix in which the bones are arranged is directly calculated, the calculation amount is small.

Further, in accordance with a series of movements of the character, a matrix for a predetermined coordinate system of the character is obtained from the coordinate data of the reference point of the character and the coordinate data of the control point read from the reference point memory and the control point memory. Is directly obtained, the calculation speed is increased, and the character arrangement can be performed accurately.

In the second embodiment, the movement and display of the character can be substantially performed by the reference point and the control point, so that the amount of data necessary for the movement and display of the character can be reduced, and the desired character of the character can be displayed. It is possible to set the position, and various and free movements of the character can be realized.

In the second embodiment, the matrix calculation unit 52a calculates the relative coordinates of the control points with respect to the reference point using the transposed matrix of the matrix of the reference points, and calculates the matrix from the relative coordinates. Cosine of
Since the sine value is obtained, an accurate matrix can be calculated, and even when recalculation of the calculated matrix value is necessary, recalculation can be performed easily and at high speed.

In the second embodiment, the character is formed by connecting a plurality of unit characters, and the reference point is provided for the unit character on the base end side, and Even when the control point is provided for the unit character on the side, the matrix operation unit 52a performs a matrix operation on the matrix of the control points to calculate the matrix of the unit character at the connection point, and The matrix of the other unit characters can be calculated by performing the matrix operation on the matrix of the connection points of, so that the expression of the connected characters becomes various.

[Other 1] Next, there is a case where the body type of the model making the movement is different from that of the model desired to be displayed on the screen.
In such a case, it is necessary to recalculate the coordinate components of the matrix. For example, consider the case where the distance between the reference point T1 of the bone B1 and the reference point T3 of the bone B3 in FIG. 2 in the first embodiment is different.

It can be said that the matrix of the bone B2 is the same as the matrix obtained by the method according to the second embodiment. However, if the distance to the reference point T3 is longer than the original model with motion,
The matrix of the bone B3 does not match the matrix calculated in the second embodiment. In such a case, it is necessary to recalculate the coordinate components of the matrix of the bone Bn3.

In general, the coordinate system in the game does not coincide with the coordinate system that created the movement. For example, if you make a movement running in the z-axis direction, in an actual game,
It must be able to move on the xz plane.

Therefore, it is necessary to rotate the angle component θ _y on the y-axis first, and then calculate by multiplying by the motion matrix. At this time, the bone matrix may be subjected to coordinate transformation of the angle θ _y from the right.

In the first embodiment, the angle and the coordinates of each part are sequentially calculated after the rotation by θ _y . In the second embodiment, however, such a recalculation is not performed. It can be seen that the processing amount can be reduced by processing the matrix itself, so that the calculation amount can be reduced.

[Other 2] In the second embodiment, a method for easily calculating an angle when a matrix is given will be described. By using Equation 15, as shown in Equation 31, θy, θx, θz
Can be calculated.

[0204]

(Equation 31)

By using the element m in this way, θ
y, θx, θz can be calculated.

Further, in this case, θz, θy, and θx when rotated in the order of z, y, and x, but the rotation in an arbitrary rotation axis order can be obtained by the same method. For example, when the rotation is performed in the order of y, x, and z, the rotation can be obtained by Expression 32 with reference to Expression 15.

[0207]

(Equation 32)

By using the result of Expression 28, θx, θy, and θz can be calculated as in Expression 33.

[0209]

[Equation 33]

The above conclusion is valid when connecting angles. For example, θ _x0 , θ _y0 , θ _z0 , θ _x1 ,
When it is desired to calculate the angle difference between θ _y1 and θ _z1 , even if these are simply subtracted, there is no difference in angle because the order of the rotation axes is important. In such a case, the following Expressions 34 and 3
What is necessary is just to calculate the matrix Mx in which 5 holds.

[0211]

Mx · R _x0 · R _y0 · R _z0 = R _x1 · R _y1 · R _z1

[0212]

Mx = R _x1 · R _y1 · R _z1 · R _z0 ^-1 · R _y0 ^-1 · R _x0 ^-1 The right side of Equation 35 is -θ _x0 , -θ _y0 , -θ _z0 ,
This is the same as rotating in the order of θ _x1 , θ _y1 , θ _z1 . By taking out the components from the matrix Mx calculated in this way and calculating the angle, the difference between the angles can be accurately obtained. The conclusions obtained in this way can be applied to a theory that smoothly connects motions.

[0213]

As described above, according to the image processing according to the present invention, the character is displayed in the coordinate system area determined by the reference point and the control point. This makes it possible to virtually display the movement of the character, thereby reducing the amount of data required for the movement display of the character, and by setting the control points at desired positions, the character can be diversified and freely moved. Can be realized.

Further, in accordance with a series of movements of the character determined based on the movement command, the coordinate data of the reference point of the character and the coordinate data of the control point read from the reference point memory and the control point memory are used. The angle of each character with respect to the predetermined coordinate system is calculated by the angle calculation unit, and the character is arranged at the obtained angle. Therefore, even if the angle representing the movement of the character is not stored in advance, this angle is calculated each time the character moves. It is possible to calculate and display the character at the calculated angle.

By calculating this angle as the angle of the reference point with respect to the coordinate system, the character can be accurately positioned with respect to the reference point.

Further, data for displaying the character is stored in a predetermined coordinate system in advance, and the character formed by the character data is arranged in the coordinate system area, so that each point for forming the character is obtained. It is possible to omit the registration of the coordinate data of the moving state in, and it is possible to greatly reduce the amount of data necessary for the moving display of the character.

The relative coordinates of the control point with respect to the reference point are calculated by multiplying the absolute coordinates of the control point by the inverse matrix of the reference point matrix, and the angle is calculated from the relative coordinates to obtain the coordinate of the reference point. The angle formed by the control points with respect to the system can be easily obtained, and the processing operation for moving display can be speeded up.

Further, by setting the reference point on the base end side of the character and setting the control point on the tip end side of the character, various movements of the present invention can be realized while realizing a movement similar to a human body to the character. The effect can be achieved.

[0219] Even if a plurality of unit characters are connected to form one character, the moving state of the character can be displayed only by setting the reference point and the control point.

Further, in accordance with a series of movements of the character, a matrix for a predetermined coordinate system of the character is obtained from the coordinate data of the reference point and the control point of the character read from the reference point memory and the control point memory. Is directly obtained, the amount of calculation is extremely reduced, the calculation speed is increased, and the character can be accurately arranged.

Thus, the movement and display of the character can be substantially performed by the reference point and the control point, and the amount of data required for the movement and display of the character can be reduced, and the character can be set at a desired position. It is possible to realize various and free movements of the character.

In the matrix operation unit,
The relative coordinates of the control points with respect to the reference point are calculated using the transposed matrix of the matrix of the reference points, and cosine and sine values for calculating the matrix are calculated from the relative coordinates. Can be calculated, and even when recalculation of the matrix calculation value is required, recalculation can be performed easily and at high speed.

In the case where the character is formed by connecting a plurality of unit characters, the reference point is provided for the unit character on the base end, and On the other hand, even when the control points are provided, the matrix operation unit calculates a matrix of the unit characters at the connection points by performing a matrix operation on the matrix of the control points,
In addition, the matrix of the connection points of the unit characters can be calculated in a matrix, so that the matrix of other unit characters can be calculated.

[Brief description of the drawings]

FIG. 1 shows a first embodiment of a polygon display processing apparatus for a feature according to the present invention.
It is a block diagram showing an embodiment.

FIG. 2 is an explanatory diagram showing a display feature used in the embodiment.

FIG. 3 is an explanatory diagram illustrating an example of a movement of a display feature realized in the embodiment;

FIG. 4 is an explanatory diagram illustrating a configuration example of a memory according to the embodiment;

FIG. 5 is a functional block diagram of the embodiment.

FIG. 6 is a flowchart for explaining the operation of the present embodiment.

FIG. 7 is an explanatory diagram illustrating a configuration example of a display matrix according to the present embodiment.

FIG. 8 is a flowchart illustrating an operation for calculating an angle of a part part.

FIG. 9 is an explanatory diagram of a state where the component parts according to the embodiment are placed on an XYZ coordinate system.

FIG. 10 is an explanatory diagram of a state where a reference point T of one component part in the embodiment is set at an origin of an XYZ coordinate system.

FIG. 11 is a flowchart illustrating an angle calculating operation when a component part is configured by a plurality of unit characters.

FIG. 12 is an explanatory diagram showing a state in which a reference point T of the embodiment is arranged at the origin of an XYZ coordinate system.

FIG. 13 is an explanatory diagram showing a state in which a reference point T of two unit characters in the same embodiment is located at the origin of the XYZ coordinate system, and a control point S is located at one point on the X axis of the XYZ coordinate system.

FIG. 14 is an explanatory diagram showing a state in which a reference point T is located at the origin and a connection point Q is located at one point on the X axis of the XYZ coordinate system in the embodiment.

FIG. 15 is a diagram of the part in the embodiment viewed from the Y, Z plane of the XYZ coordinate system.

FIG. 16 is an explanatory diagram for explaining advantages of the embodiment.

FIG. 17 is an explanatory diagram for explaining another advantage of the embodiment.

FIG. 18 is a functional block diagram showing a second embodiment of the present invention.

FIG. 19 is a flowchart for explaining the operation of the second embodiment.

FIG. 20 is a flowchart illustrating a method of calculating a matrix for a single bone according to the second embodiment.

FIG. 21 is an explanatory diagram for use in calculating a matrix for one bone according to the second embodiment.

FIG. 22 is an explanatory diagram for use in calculating a matrix when only one bone is used in the second embodiment.

FIG. 23 is an explanatory diagram for use in calculating a matrix when only one bone is used in the second embodiment.

FIG. 24 is a flowchart for explaining a method of calculating a matrix for two bones in the second embodiment.

FIG. 25 is an explanatory diagram used for describing a matrix calculation method when there are two bones in the second embodiment.

[Explanation of symbols]

 Reference Signs List 1 image processing device 2 display (display device) 3 memory 4 operation panel 5 image display processing device 6 screen 31 motion data memory 32 control point memory 33 reference point memory 34 polygon data memory 35 auxiliary memory 50 CPU 51 motion selection unit 52 coordinates Position determination unit 52a Matrix calculation unit 53 Angle calculation unit 54 Image output control unit 55 Image output control circuit C, Ca, Cb Character B, Bn1, Bn2 Bone (unit character) U1 part (character) U2 part (character) U3 part ( Character) U4 parts (character) U5 parts (character) U6 parts (character) U7 parts (character) T1, T2, T3, T4, T5, T6, T7 Reference points S1, S2 S3, S4, S5, S6, S7 reference point Q4, Q5, Q6, Q7 connection point

──────────────────────────────────────────────────続 き Continued on the front page (58) Fields surveyed (Int. Cl. ⁷ , DB name) G06T 1/00-17/50 A63F 13/00-13/12 JICST file (JOIS)

Claims (13)

(57) [Claims] An image processing apparatus configured to be able to display a predetermined figure while moving it, wherein a reference point corresponding to a series of movements of the figure and storing a reference point serving as a reference for displaying the figure. A memory, a control point memory that stores a control point for determining another position of the figure with respect to the reference point, an operation unit that outputs a movement command to the figure, and the reference point based on the movement command. Image display processing means for performing image processing for arranging the figure in a coordinate system area determined by a control point; and the reference point memory corresponding to a series of movements of the figure determined based on the movement command. And a method for obtaining an angle formed by the figure with respect to a predetermined coordinate system from the coordinate data of the reference point and the coordinate data of the control point read from the control point memory.
A control point for the coordinate system of the reference point.
An image processing apparatus comprising: an angle calculating unit that calculates an angle; and an arranging unit that arranges the figure at an angle from the reference point . 2. The image processing apparatus according to claim 1, further comprising a memory configured to store data for displaying the graphic in a predetermined coordinate system, wherein the image display processing unit arranges the graphic formed by the data in the coordinate system area. The device according to claim 1. 3. The angle calculating means calculates a relative coordinate of the control point with respect to the reference point by multiplying an absolute matrix of the control point by an inverse matrix of the reference point matrix, and calculates the angle from the relative coordinate. The device according to claim 1. 4. The graphic is a character in which a plurality of parts are connected, the reference point is provided on a part on the base end side of the main body of the character, and the control point is provided on a part on the distal end side. Is provided, the image display processing means includes connection point calculation means for calculating a connection point between parts, and the angle calculation means calculates a connection angle between the parts at this connection point, and An angle formed by the connection point with respect to the reference coordinates of the reference point is calculated, and the arranging means arranges the base-side part with this angle from the reference point and other parts with the connection angle from the connection point. 2. The device according to claim 1, wherein the device is arranged. 5. Set the reference point on the base end side of the figure, apparatus of any one of claims 1 to 4, sets the control points on the distal end side of the figure. Wherein said image display processing means, apparatus according to claim 1, further comprising a desired change or Configurable control point changing and setting means to a position of the control point. 7. The apparatus according to claim 1, wherein the angle calculating means calculates the angle based on a skeleton having data of a length defined for the figure. 8. The image display processing means according to claim 1, wherein said coordinate data and control data of a reference point read from said reference point memory and control point memory correspond to a series of movements of said figure determined based on said movement command. 2. The apparatus according to claim 1, further comprising: matrix calculation means for obtaining a matrix of the graphic with respect to a predetermined coordinate system from coordinate data of points; and arranging means for arranging the graphic in accordance with the obtained matrix. Wherein said matrix operation means calculates a matrix control point with respect to the coordinate system of the reference point forms, the positioning means according to claim 8, wherein placing the graphic based on the matrix. Wherein said matrix operation means calculates the relative coordinates with respect to the reference point of use to the control point a transposed matrix of the matrix of the reference point, according to claim 9, wherein computing the matrix from the relative coordinates . 11. The graphic is a character in which a plurality of parts are connected, the reference point is provided on a part on the base end side of the character body, and the control point is provided on a part on the distal end side. The matrix operation means calculates a matrix of parts at connection points by applying a matrix operation to the matrix of the control points,
The matrix of the other parts is calculated by applying a matrix operation to the matrix of the connection points of the parts, and the arrangement unit arranges the character in a predetermined coordinate system based on the matrix of each part. Claim
An apparatus according to claim 8 . 12. A predetermined figure can be displayed while being moved.
In the image processing apparatus configured to
In response to the series of movements, it becomes a reference for displaying this figure.
A reference point memory for storing a reference point,
Control points for determining other positions of the figure
Point memory and operation means for outputting a movement command to the figure
And the control point and the reference point based on the movement command.
Image processing for arranging the figure in a coordinate system area determined by
Image display processing means for performingA series of movements of the figure determined based on the movement command
Corresponding to the reference point memory and the control point memory.
The read coordinate data of the reference point and the coordinate data of the control point
To determine the angle that the figure makes with respect to the predetermined coordinate system
A control point for the coordinate system of the reference point.
Angle calculation means for calculating an angle, An arrangement to arrange the figure at this angle from the reference point
Mounting means, Wherein the figure is a character in which a plurality of parts are connected.
To the parts on the base end side of the main body of this character
The reference point is provided, and the front part is
The control point is provided, and the reference point is
From the coordinate data group corresponding to a series of movements of the base part
The control point is a series of movements of the proximal part.
Or a series of movements independent of this movement
Of the specified position occupied by the tip of each part in the process of
An image processing device composed of a group. Wherein said image processing means, the image processing apparatus according to claim 12, wherein the control point becomes comprise the desired changeable or configurable control point changing and setting means to a position.