JP4535607B2 - GAME SYSTEM AND INFORMATION STORAGE MEDIUM - Google Patents

Description

【０１１２】
行列Ｍの各要素は、図７の各ｅｘベクトル、ｅｙベクトル、ｅｚベクトル、Ｖベクトルと等しい。ここでｅｘベクトル、ｅｙベクトル、ｅｚベクトルはＭによって変換される関節のＸ軸、Ｙ軸、Ｚ軸それぞれの向きベクトルであり、Ｖベクトルは関節の移動成分である。
【０１１３】
図８は、回転行列の要素の範囲制限による関節の回転制限の方式について説明するための図である。同図に示すように、ｅｙベクトルのｙ座標（ａ₁₁）がとり得る値をｙ₀＜ａ₁₁ と制限することでｅｙベクトルの動ける範囲を回転可能範囲（アミ部分内）４１０に制限することができる。他のパラメータについても同様に制限することにより、関節の向きをこまかく範囲指定することができる。
【０１１４】
一般にコンピュータで各パーツの回転の演算を行う際には回転行列を用いた行列演算を行う。従って回転可能範囲を各関節のローカル座標系の３軸に対する回転可能角度の形式で保持している場合には行列演算で得られた回転行列と各関節のローカル座標系の３軸に対する回転可能角度との比較が必要となる。従って回転パラメータと回転行列の変換の計算が必要となる。
【０１１５】
しかしこの方法は、行列の各パラメータのみ使用して、回転パラメータｒｘ，ｒｙ，ｒｚを必要としないので、回転パラメータと回転行列の変換の計算が不用となる演算効率がよい。
【０１１６】
図９は、複数のパーツが関節により連結したオブジェクトのモーションをリアルタイムに生成して表示を行う際の全体の流れについて説明するためのフローチャート図である。
【０１１７】
まずオブジェクトを構成する各パーツの配置を初期化する（ステップＳ１１０）。ここで初期化とはオブジェクトを構成する各パーツを基準状態にすることである。モーションを生成するための各関節の回転情報は基準状態に対する変位として与えられるからである。
【０１１８】
次に各パーツに作用する力による関節の配置（モーションデータ）を演算する関節配置処理を行う（ステップＳ１２０）。関節配置処理の詳細については、図１０のフローチャートで説明する。
【０１１９】
次に関節配置処理によって得られた配置（モーションデータ）により配置した場合の各パーツと地形とのヒットに対する配置補正処理を行う（ステップＳ１３０）。各パーツと地形とのヒットに対する配置補正処理の詳細については、図１１及び図１２のフローチャートで説明する。
【０１２０】
次に各パーツと地形とのヒットに対する配置補正処理によって得られた配置（モーションデータ）を予め与えられた回転可能範囲内に補正する処理を行う（ステップＳ１４０）。回転可能範囲内に補正する処理の詳細については、図１２のフローチャートで説明する。
【０１２１】
図１０は関節配置処理の詳細について説明するためのフローチャート図である。
【０１２２】
まずｉに１をセットする（ステップＳ２１０）。ここで、ｉは関節をカウントするためのカウンターである。
【０１２３】
まずｉ番目の関節に作用する力を求める（ステップＳ２２０）。
【０１２４】
次に、ｉ番目のパーツに作用する力に基づき当該パーツの加速度及び親パーツに作用させる内力を求める処理を行う（ステップＳ２３０）。処理の詳細な内容については、図６のフローチャートで説明した通りである。
【０１２５】
次に求めた回転角加速度ａベクトルを前回フレームの回転角速度ｒ（ｉ）ベクトルに加算して今回フレームの回転角速度ｒ（ｉ）ベクトルを求める（ステップＳ２４０）。
【０１２６】
次に回転角速度ｒ（ｉ）ベクトルから回転角速度行列Ｍｖを求める（ステップＳ２５０）。回転角速度ｒ（ｉ）ベクトルから回転速度行列Ｍｖを求める詳細な処理については後述する。
【０１２７】
そして求めた回転角速度行列Ｍｖを前回フレームのｉ番目の行列Ｍ（ｉ）に掛け合わせて今回フレームのｉ番目の行列Ｍ（ｉ）を求める（Ｍ（ｉ）＝ＭｖＭ（ｉ））（ステップＳ２６０）。
【０１２８】
そして親パーツがある場合には、Ｆｐベクトルを親パーツに渡す（ステップＳ２７０、Ｓ２８０）。本実施の形態では、親パーツが内力として他のパーツからもらうのは、このように隣り合う子パーツから作用する力のみである。従って、他の全てのパーツからの力についても作用させる場合に比べ演算量を大幅に削減させることができる。
【０１２９】
また親パーツがない場合には、Ｆｐベクトルからオブジェクト全体の加速度を求め、速度Ｖベクトルに加算し（ステップＳ２９０）、Ｖベクトルをオブジェクト中心位置ｐベクトルに加算する（ステップＳ３００）。
【０１３０】
そしてｉ＜Ｎであれば、ｉをインクリメントして（ｉ＝ｉ＋１）ステップＳ２２０〜ステップＳ３１０の処理を繰り返す（ステップＳ３１０、Ｓ３２０）。ここにおいてＮはオブジェクトを構成する関節の数である。
【０１３１】
図１１、図１２は各パーツと地形とのヒットに対する配置補正処理について説明するためのフローチャート図である。
【０１３２】
まずｉに１をセットする（ステップＳ４１０）。ここで、ｉは関節をカウントするためのカウンターである。
【０１３３】
そしてｉ番目の関節のヒット球の位置を求める（ステップＳ４２０）。ここでヒット球とは当該関節のパーツに対して簡易にヒットチェックを行うために設定したヒットチェック用の球である。
【０１３４】
ヒット球が地形にヒットした場合には以下の処理を行う。
【０１３５】
まず地形に減り込んだ分の位置を補正する（ステップＳ４４０）。
【０１３６】
関節の回転速度関節の回転角速度ｒ（ｉ）ベクトルからヒット球の移動速度を求める（ステップＳ４５０）。
【０１３７】
ヒット球の速度と、地形の法線ベクトルから弾性衝突の衝撃力を求める（ステップＳ４６０）。
【０１３８】
衝撃力を、回転中心から作用点方向成分Ｆｐベクトルとそれに垂直な成分
Ｆｖベクトルに分解する（ステップＳ４７０）。
【０１３９】
Ｆｖベクトルを回転成分に変換して、回転角加速度ａベクトルを求める（ステップＳ４８０）。
【０１４０】
次に求めた回転角加速度ａベクトルを前回フレームの回転角速度ｒ（ｉ）ベクトルに加算して今回フレームの回転角速度ｒ（ｉ）ベクトルを求める（ステップＳ４９０）。
【０１４１】
次に回転角速度ｒ（ｉ）ベクトルから回転角速度行列Ｍｖを求める（ステップＳ５００）。回転角速度ｒ（ｉ）ベクトルから回転速度行列Ｍｖを求める詳細な処理については後述する。
【０１４２】
そして求めた回転角速度行列Ｍｖを前回フレームのｉ番目の行列Ｍ（ｉ）に掛け合わせて今回フレームのｉ番目の行列Ｍ（ｉ）を求める（Ｍ（ｉ）＝ＭｖＭ（ｉ））（ステップＳ５１０）。
【０１４３】
そして親パーツがある場合には、Ｆｐベクトルを親パーツに渡す（ステップＳ５２０、Ｓ５３０）。本実施の形態では、親パーツが内力として他のパーツからもらうのは、このように隣り合う子パーツから作用する力のみである。従って、他の全てのパーツからの力についても作用させる場合に比べ演算量を大幅に削減させることができる。
【０１４４】
また親パーツがない場合には、Ｆｐベクトルからオブジェクト全体の加速度を求め、速度Ｖベクトルに加算し（ステップＳ５４０）、Ｖベクトルをオブジェクト中心位置ｐベクトルに加算する（ステップＳ５５０）。
【０１４５】
そしてｉ＜Ｎであれば、ｉをインクリメントして（ｉ＝ｉ＋１）ステップＳ４２０〜ステップＳ５６０の処理を繰り返す（ステップＳ５６０、Ｓ５７０）。ここにおいてＮはオブジェクトを構成する関節の数である。
【０１４６】
最後にオブジェクト中心のヒット球の位置を求める（ステップＳ５８０）。
【０１４７】
ヒット球が地形にヒットした場合には、地形に減り込んだ分を補正して、オブジェクト中心速度Ｖベクトルに対して、地形との衝突の演算を行い、衝突後の速度Ｖベクトルを求める（ステップＳ５９０、Ｓ６００，Ｓ６１０）。
【０１４８】
図１３は回転パラメータ（各関節のローカル座標系の３軸に対する回転可能角度）の形式で回転可能範囲が与えられている場合の、回転可能範囲内に補正する処理について説明するためのフローチャート図である。
【０１４９】
まずｉに１をセットする（ステップＳ７１０）。ここで、ｉは関節をカウントするためのカウンターである。
【０１５０】
そして関節行列Ｍ(i)から回転パラメータ（ｒｘ（ｉ），ｒｙ（ｉ），ｒｚ（ｉ））を求める（ステップＳ７２０）。関節行列Ｍ(i)から回転パラメータ（ｒｘ（ｉ），ｒｙ（ｉ），ｒｚ（ｉ））に変換する手法については後述する。
【０１５１】
ｒｘ（ｉ）が予め与えられたＸ軸の回転可能範囲内に収まっていない場合にはｒｘ（ｉ）を回転可能範囲内に補正する（ステップＳ７３０、Ｓ７４０）。ここで予め与えられたＸ軸の回転可能範囲がＲＸ（ｉ）であり、ｒｘ＞ＲＸ（ｉ）の場合にはｒｘ＝ＲＸ（ｉ）とする。
【０１５２】
ｒｙ（ｉ）が予め与えられたＹ軸の回転可能範囲内に収まっていない場合にはｒｙ（ｉ）を回転可能範囲内に補正する（ステップＳ７５０、Ｓ７６０）。ここで予め与えられたＹ軸の回転可能範囲がＲＹ（ｉ）であり、ｒｙ＞ＲＹ（ｉ）の場合にはｒｙ（ｉ）＝ＲＹ（ｉ）とする。
【０１５３】
ｒｚ（ｉ）が予め与えられたＺ軸の回転可能範囲内に収まっていない場合にはｒｚを回転可能範囲内に補正する（ステップＳ７７０、Ｓ７８０）。ここで予め与えられたＺ軸の回転可能範囲がＲＺ（ｉ）であり、ｒｚ（ｉ）＞ＲＺ（ｉ）の場合にはｒｚ（ｉ）＝ＲＺ（ｉ）とする。
【０１５４】
そして回転パラメータ（ｒｘ（ｉ），ｒｙ（ｉ），ｒｚ（ｉ））から、関節行列Ｍ(i)を求める（ステップＳ７９０）。
【０１５５】
そしてｉ＜Ｎであれば、ｉをインクリメントして（ｉ＝ｉ＋１）ステップＳ７２０〜ステップＳ８００の処理を繰り返す（ステップＳ８００、Ｓ８１０）。ここにおいてＮはオブジェクトを構成するパーツの数である。
【０１５６】
図１４は回転行列の要素の形式で回転可能範囲が与えられている場合の、回転可能範囲内に補正する処理について説明するためのいフローチャート図である。
【０１５７】
まずｉに１をセットする（ステップＳ９１０）。ここで、ｉは関節をカウントするためのカウンターである。
【０１５８】
ここで現在までの処理で求まっている回転行列をＭ（ｉ）とする。Ｍ（ｉ）は以下のとおりである。
【０１５９】
【数２】

【０１６０】
ここでａ₀₀（ｉ）、ａ₁₁（ｉ）、ａ₂₂（ｉ）について予めとりうる範囲が与えられている。ａ₀₀（ｉ）はｅｘベクトルのｘ成分（ローカル座標系のＸ軸のＸ軸方向の回転情報）であり、ａ₁₁（ｉ）ｅｙベクトルのｙ成分（ローカル座標系Ｙ軸のＹ軸方向の回転情報）であり、ａ₂₂（ｉ）ｅｚベクトルのｚ成分（ローカル座標系Ｚ軸のＺ軸方向の回転情報）である。
【０１６１】
ａ₀₀（ｉ）が予め与えられた範囲内でない場合には、ａ₀₀（ｉ）が範囲内に戻るのに要するｅｘベクトルの移動量を求める（ステップＳ９２０、Ｓ９３０）。
【０１６２】
そして移動量を回転量に変換して、回転行列ΔＭを求める（Ｓ９４０）。
【０１６３】
そしてＭ(i)＝Ｍ(i)ΔＭを行い補正後の回転行列Ｍ(i)を求める（ステップＳ９５０）。
【０１６４】
ａ₁₁（ｉ）が予め与えられた範囲内でない場合には、ａ₁₁（ｉ）が範囲内に戻るのに要するｅｙベクトルの移動量を求める（ステップＳ９６０、Ｓ９７０）。
【０１６５】
そして移動量を回転量に変換して、回転行列ΔＭを求める（Ｓ９８０）。
【０１６６】
そしてＭ(i)＝Ｍ(i)ΔＭを行い補正後の回転行列Ｍ(i)を求める（ステップＳ９９０）。
【０１６７】
ａ₂₂（ｉ）が予め与えられた範囲内でない場合には、ａ₂₂（ｉ）が範囲内に戻るのに要するｅｚベクトルの移動量を求める（ステップＳ１０００、Ｓ１０１０）。 そして移動量を回転量に変換して、回転行列ΔＭを求める（Ｓ１０２０）。
【０１６８】
そしてＭ(i)＝Ｍ(i)ΔＭを行い補正後の回転行列Ｍ(i)を求める（ステップＳ１０３０）。
【０１６９】
そしてｉ＜Ｎであれば、ｉをインクリメントして（ｉ＝ｉ＋１）ステップＳ９２０〜ステップＳ１０３０の処理を繰り返す（ステップＳ１０４０、Ｓ１０５０）。ここにおいてＮはオブジェクトを構成する関節の数である。
【０１７０】
図１５は移動量から回転情報を求める方式について説明するための図である。
【０１７１】
まず図示しない合力Ｆベクトルから運動方程式に基づいて、加速度を求め、当該加速度に基づき速度を求め、当該速度ベクトルに基づき、移動量Ｖベクトルを求める。
【０１７２】
例えばＦｖベクトルによりＯＰベクトルがＯＰ’ベクトルに移動したとする。この場合の移動量がＶベクトルであるとすると回転量ｗ（ｗｘ、ｗｙ、ｗｚ）は以下の式で与えられる。
【０１７３】
【数３】

【０１７４】
ｘｙｚ回転軸がＷベクトルだけ回転した場合の点Ｐベクトルの移動量Ｖベクトルは以下の式で与えられる。
【０１７５】
【数４】

【０１７６】
次に回転角速度ｒベクトルから回転角速度行列Ｍｖを求める詳細な処理について説明する。
【０１７７】
一般にベクトルｖ＝（ｘ，ｙ，ｚ，１）を、回転（Ｒｘ，Ｒｙ，Ｒｚ）して、平行移動（Ｔｘ，Ｔｙ，Ｔｚ）する場合の行列Ｍは次式で与えられる。
【０１７８】
【数５】

【０１７９】
この場合、変換後のベクトルｖ’は、ｖ’＝ｖＭとして求まる。
【０１８０】
また以下のような既知の行列Ｍがあるとする。
【０１８１】
【数６】

【０１８２】
この行列Ｍに対応する回転パラメータ（Ｒｘ，Ｒｙ，Ｒｚ）を求めたい場合、Ｍの各要素を（１）に代入して解くと以下のようになる。
【０１８３】
（１）ａ₀₂≠±１の場合、解は以下の（式１）又は（式２）の２通り求められる。
【０１８４】
【数７】

【０１８５】
ここにおいてｔａｎ^-1（ｘ、ｙ）はｓｉｎθ＝ｙ、ｃｏｓθ＝ｘのときのθである。
【０１８６】
（２）ａ₀₂＝１の場合、ｃｏｓＲｙ＝０なので、ａ₀₀＝ａ₀₁＝ａ₁₂＝ａ₂₂＝０になってしまう。従ってＲｘ，Ｒｚの解は不定で、Ｒｙ、Ｒｚは以下のようになる。
【０１８７】
【数８】

【０１８８】
ここにおいて前回のＲｘの値を元に、今回のＲｘ＝前回のＲｘとしてＲｘ、Ｒｚをもとめるとよい。
【０１８９】
（３）ａ₀₂＝−１の場合、（２）と同様Ｒｘ，Ｒｚの解は不定で、Ｒｙ、Ｒｚは以下のようになる。
【０１９０】
【数９】

【０１９１】
ここにおいて前回のＲｘの値を元に、今回のＲｘ＝前回のＲｘとしてＲｘ、Ｒｚをもとめるとよい。
【０１９２】
なお、並進パラメータは（Ｔｘ，Ｔｙ，Ｔｚ）＝（ａ₃₀，ａ₃₁，ａ₃₂）である。
【０１９３】
３．ハードウェア構成
次に、本実施形態を実現できるハードウェアの構成の一例について図１６を用いて説明する。
【０１９４】
メインプロセッサ９００は、ＣＤ９８２（情報記憶媒体）に格納されたプログラム、通信インターフェース９９０を介して転送されたプログラム、或いはＲＯＭ９５０（情報記憶媒体の１つ）に格納されたプログラムなどに基づき動作し、ゲーム処理、画像処理、音処理などの種々の処理を実行する。
【０１９５】
コプロセッサ９０２は、メインプロセッサ９００の処理を補助するものであり、高速並列演算が可能な積和算器や除算器を有し、マトリクス演算（ベクトル演算）を高速に実行する。例えば、オブジェクトを移動させたり動作（モーション）させるための物理シミュレーションに、マトリクス演算などの処理が必要な場合には、メインプロセッサ９００上で動作するプログラムが、その処理をコプロセッサ９０２に指示（依頼）する。
【０１９６】
ジオメトリプロセッサ９０４は、座標変換、透視変換、光源計算、曲面生成などのジオメトリ処理を行うものであり、高速並列演算が可能な積和算器や除算器を有し、マトリクス演算（ベクトル演算）を高速に実行する。例えば、座標変換、透視変換、光源計算などの処理を行う場合には、メインプロセッサ９００で動作するプログラムが、その処理をジオメトリプロセッサ９０４に指示する。
【０１９７】
データ伸張プロセッサ９０６は、圧縮された画像データや音データを伸張するデコード処理を行ったり、メインプロセッサ９００のデコード処理をアクセレートする処理を行う。これにより、オープニング画面、インターミッション画面、エンディング画面、或いはゲーム画面などにおいて、所与の画像圧縮方式で圧縮された動画像を表示できるようになる。なお、デコード処理の対象となる画像データや音データは、ＲＯＭ９５０、ＣＤ９８２に格納されたり、或いは通信インターフェース９９０を介して外部から転送される。
【０１９８】
描画プロセッサ９１０は、ポリゴンや曲面などのプリミティブ面で構成されるオブジェクトの描画（レンダリング）処理を高速に実行するものである。オブジェクトの描画の際には、メインプロセッサ９００は、ＤＭＡコントローラ９７０の機能を利用して、オブジェクトデータを描画プロセッサ９１０に渡すと共に、必要であればテクスチャ記憶部９２４にテクスチャを転送する。すると、描画プロセッサ９１０は、これらのオブジェクトデータやテクスチャに基づいて、Ｚバッファなどを利用した陰面消去を行いながら、オブジェクトをフレームバッファ９２２に高速に描画する。また、描画プロセッサ９１０は、αブレンディング（半透明処理）、デプスキューイング、ミップマッピング、フォグ処理、バイリニア・フィルタリング、トライリニア・フィルタリング、アンチエリアシング、シェーディング処理なども行うことができる。そして、１フレーム分の画像がフレームバッファ９２２に書き込まれると、その画像はディスプレイ９１２に表示される。
【０１９９】
サウンドプロセッサ９３０は、多チャンネルのＡＤＰＣＭ音源などを内蔵し、ＢＧＭ、効果音、音声などの高品位のゲーム音を生成する。生成されたゲーム音は、スピーカ９３２から出力される。
【０２００】
ゲームコントローラ９４２からの操作データや、メモリカード９４４からのセーブデータ、個人データは、シリアルインターフェース９４０を介してデータ転送される。
【０２０１】
ＲＯＭ９５０にはシステムプログラムなどが格納される。なお、業務用ゲームシステムの場合には、ＲＯＭ９５０が情報記憶媒体として機能し、ＲＯＭ９５０に各種プログラムが格納されることになる。なお、ＲＯＭ９５０の代わりにハードディスクを利用するようにしてもよい。
【０２０２】
ＲＡＭ９６０は、各種プロセッサの作業領域として用いられる。
【０２０３】
ＤＭＡコントローラ９７０は、プロセッサ、メモリ（ＲＡＭ、ＶＲＡＭ、ＲＯＭ等）間でのＤＭＡ転送を制御するものである。
【０２０４】
ＣＤドライブ９８０は、プログラム、画像データ、或いは音データなどが格納されるＣＤ９８２（情報記憶媒体）を駆動し、これらのプログラム、データへのアクセスを可能にする。
【０２０５】
通信インターフェース９９０は、ネットワークを介して外部との間でデータ転送を行うためのインターフェースである。この場合に、通信インターフェース９９０に接続されるネットワークとしては、通信回線（アナログ電話回線、ＩＳＤＮ）、高速シリアルバスなどを考えることができる。そして、通信回線を利用することでインターネットを介したデータ転送が可能になる。また、高速シリアルバスを利用することで、他のゲームシステム、他のゲームシステムとの間でのデータ転送が可能になる。
【０２０６】
なお、本発明の各手段は、その全てを、ハードウェアのみにより実行してもよいし、情報記憶媒体に格納されるプログラムや通信インターフェースを介して配信されるプログラムのみにより実行してもよい。或いは、ハードウェアとプログラムの両方により実行してもよい。
【０２０７】
そして、本発明の各手段をハードウェアとプログラムの両方により実行する場合には、情報記憶媒体には、本発明の各手段をハードウェアを利用して実行するためのプログラムが格納されることになる。より具体的には、上記プログラムが、ハードウェアである各プロセッサ９０２、９０４、９０６、９１０、９３０等に処理を指示すると共に、必要であればデータを渡す。そして、各プロセッサ９０２、９０４、９０６、９１０、９３０等は、その指示と渡されたデータとに基づいて、本発明の各手段を実行することになる。
【０２０８】
図１７（Ａ）に、本実施形態を業務用ゲームシステムに適用した場合の例を示す。プレーヤは、ディスプレイ１１００上に映し出されたゲーム画像を見ながら、レバー１１０２、ボタン１１０４等を操作してゲームを楽しむ。内蔵されるシステムボード（サーキットボード）１１０６には、各種プロセッサ、各種メモリなどが実装される。そして、本発明の各手段を実行するための情報（プログラム又はデータ）は、システムボード１１０６上の情報記憶媒体であるメモリ１１０８に格納される。以下、この情報を格納情報と呼ぶ。
【０２０９】
図１７（Ｂ）に、本実施形態を家庭用のゲームシステムに適用した場合の例を示す。プレーヤはディスプレイ１２００に映し出されたゲーム画像を見ながら、ゲームコントローラ１２０２、１２０４を操作してゲームを楽しむ。この場合、上記格納情報は、本体システムに着脱自在な情報記憶媒体であるＣＤ１２０６、或いはメモリカード１２０８、１２０９等に格納されている。
【０２１０】
図１７（Ｃ）に、ホスト装置１３００と、このホスト装置１３００とネットワーク１３０２（ＬＡＮのような小規模ネットワークや、インターネットのような広域ネットワーク）を介して接続される端末１３０４-1〜１３０４-nとを含むシステムに本実施形態を適用した場合の例を示す。この場合、上記格納情報は、例えばホスト装置１３００が制御可能な磁気ディスク装置、磁気テープ装置、メモリ等の情報記憶媒体１３０６に格納されている。端末１３０４-1〜１３０４-nが、スタンドアロンでゲーム画像、ゲーム音を生成できるものである場合には、ホスト装置１３００からは、ゲーム画像、ゲーム音を生成するためのゲームプログラム等が端末１３０４-1〜１３０４-nに配送される。一方、スタンドアロンで生成できない場合には、ホスト装置１３００がゲーム画像、ゲーム音を生成し、これを端末１３０４-1〜１３０４-nに伝送し端末において出力することになる。
【０２１１】
なお、図１７（Ｃ）の構成の場合に、本発明の各手段を、ホスト装置（サーバー）と端末とで分散して実行するようにしてもよい。また、本発明の各手段を実行するための上記格納情報を、ホスト装置（サーバー）の情報記憶媒体と端末の情報記憶媒体に分散して格納するようにしてもよい。
【０２１２】
またネットワークに接続する端末は、家庭用ゲームシステムであってもよいし業務用ゲームシステムであってもよい。そして、業務用ゲームシステムをネットワークに接続する場合には、業務用ゲームシステムとの間で情報のやり取りが可能であると共に家庭用ゲームシステムとの間でも情報のやり取りが可能なセーブ用情報記憶装置（メモリカード、携帯型ゲーム装置）を用いることが望ましい。
【０２１３】
なお本発明は、上記実施形態で説明したものに限らず、種々の変形実施が可能である。
【０２１４】
例えば、本発明のうち従属請求項に係る発明においては、従属先の請求項の構成要件の一部を省略する構成とすることもできる。また、本発明の１の独立請求項に係る発明の要部を、他の独立請求項に従属させることもできる。
【０２１５】
また、本発明は種々のゲーム（格闘ゲーム、シューティングゲーム、ロボット対戦ゲーム、スポーツゲーム、競争ゲーム、ロールプレイングゲーム、音楽演奏ゲーム、ダンスゲーム等）に適用できる。
【０２１６】
また本発明は、業務用ゲームシステム、家庭用ゲームシステム、多数のプレーヤが参加する大型アトラクションシステム、シミュレータ、マルチメディア端末、ゲーム画像を生成するシステムボード等の種々のゲームシステムに適用できる。
【図面の簡単な説明】
【図１】本実施形態のゲームシステムのブロック図の例である。
【図２】人体オブジェクトの関節（モーション骨）とモーションデータの関係について説明するための図である。
【図３】人体オブジェクトの関節（モーション骨）とモーションデータの関係について説明するための図である。
【図４】所与のパーツに作用する力について説明するための図である。
【図５】力の回転成分及び並進成分とパーツの回転情報と関係について説明するための図である。
【図６】所与のパーツに作用する力に基づき当該パーツの加速度及び親パーツに作用させる内力を求めるフローチャート図である。
【図７】回転行列と３軸の回転情報との関係について説明するための図である。
【図８】回転行列の要素の範囲制限による関節の回転制限の方式について説明するための図である。
【図９】複数のパーツが関節により連結したオブジェクトのモーションをリアルタイムに生成して表示を行う際の全体の流れについて説明するためのフローチャート図である。
【図１０】関節配置処理の詳細について説明するためのフローチャート図である。
【図１１】各パーツと地形とのヒットに対する配置補正処理について説明するためのフローチャート図である。
【図１２】各パーツと地形とのヒットに対する配置補正処理について説明するためのフローチャート図である。
【図１３】回転パラメータ（各関節のローカル座標系の３軸に対する回転可能角度）の形式で回転可能範囲が与えられている場合の、回転可能範囲内に補正する処理について説明するためのフローチャート図である。
【図１４】回転行列の要素の形式で回転可能範囲が与えられている場合の、回転可能範囲内に補正する処理について説明するためのフローチャート図である。
【図１５】移動量から回転情報を求める方式について説明するための図である。
【図１６】本実施形態を実現できるハードウェアの構成の一例を示す図である。
【図１７】図１７（Ａ）、（Ｂ）、（Ｃ）は、本実施形態が適用される種々の形態のシステムの例を示す図である。
【符号の説明】
１００ 処理部
１１０ ゲーム処理部
１１２ 移動・動作演算部
１１４ モーション生成処理部
１３０ 画像生成部
１３２ ジオメトリ処理部
１４０ 描画部
１５０ 音生成部
１６０ 操作部
１７０ 記憶部
１７２ メインメモリ
１７４ フレームバッファ
１８０ 情報記憶媒体
１９０ 表示部
１９２ 音出力部
１９４ セーブ用情報記憶装置
１９６ 通信部[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a game system and an information storage medium.
[0002]
[Background Art and Problems to be Solved by the Invention]
Conventionally, a game system that generates an image that can be seen from a given viewpoint in an object space that is a virtual three-dimensional space is known, and is popular as a device that can experience so-called virtual reality. Taking a game system in which a gun game can be enjoyed as an example, a player (operator) uses a gun-type controller (shooting device) imitating a gun or the like to display enemy characters (objects) displayed on the screen. 3D game by shooting target objects such as).
[0003]
Now, in such a game system, it is an important technical problem to generate a more realistic and high-quality image in order to improve the virtual reality of the player. For this reason, for example, it is desirable that a variety of movements can be realistically expressed with respect to the movement of an object configured by connecting a plurality of parts through joints.
[0004]
For example, when an unpredictable impact vector interactively generated according to the progress of the game is added to a given part constituting the object, it is preferable that the object performs a motion reflecting the impact. In such a case, the motion of the object should be different depending on the impacted part and the magnitude and direction of the impact.
[0005]
However, in order to express such a variety of motions, it is necessary to prepare all motion data corresponding to all combinations of impacted parts and the magnitude and direction of the impact, which increases the amount of data Was invited.
[0006]
In addition, since data that can be prepared in advance is limited, it is difficult to generate all motions corresponding to various impacts that occur during the game.
[0007]
In view of this, the present inventor has developed a game system that generates in real time a motion reflecting various events that occur during a game.
[0008]
However, generating a motion by fully simulating the forces acting by various events that occur during the game increases the computational load, and real-time image generation processing is difficult with hardware with limited performance. is there.
[0009]
The present invention has been made in view of the above-described problems, and the object of the present invention is to reduce motion information that gives various and realistic movements to an object in which a plurality of parts are connected by joints. An object of the present invention is to provide a game system and an information storage medium that can be generated in real time with a calculation load.
[0010]
[Means for Solving the Problems]
(1) The present invention is a game system that performs image generation, and acts on an external force applied to a given part of an object in which a plurality of parts are connected by a joint and an adjacent part connected by the joint. Processing for obtaining the rotation information of the joint of the part based on the internal force to be performed for each part constituting the object, and a motion generation means for generating the motion of the object in which the plurality of parts are connected by the joint, and each part according to the generated motion And means for generating an image of an object in which a plurality of parts are connected by joints.
[0011]
The information storage medium according to the present invention is an information storage medium that can be used by a computer, and includes a program for executing the above means. The program according to the present invention is a program that can be used by a computer (including a program embodied in an information storage medium or a carrier wave), and includes a module for executing the above means.
[0012]
In the game system of the present invention, the rotation of the joint of the part based on the external force applied to the given part of the object in which a plurality of parts are connected by the joint and the internal force acting on the part from the adjacent parts connected by the joint. By performing a process for obtaining information on each part constituting the object, it is possible to generate a motion of the object in which the plurality of parts are connected by a joint in real time.
[0013]
Here, the internal force acting on a given part is a force acting on the part from other parts constituting the object. An external force acting on a given part is a force other than an internal force, for example, a force on which an external factor such as an impact, resistance, or gravity acts.
[0014]
In the present invention, the internal force acting on a given part is applied only from adjacent parts connected by joints, and rotation information of the joints of each part is obtained. Therefore, the amount of calculation can be greatly reduced as compared with the case where rotation information is obtained by applying internal forces from all other parts to a given part.
[0015]
Further, according to the present invention, rotation information is calculated for all parts constituting an object of a given frame. At this time, it is assumed that the quasi-order rotation information is calculated in the order of parts 1 to N. In the present invention, a force is applied between adjacent parts. For example, if a force is applied to part n, the force applied to part n is transmitted for a part for which rotation information is calculated for the n + 1th and subsequent frames in the frame. be able to. Even if it is not transmitted in the current frame due to the parent-child relationship and the calculation order, it can be transmitted in the next frame.
[0016]
Therefore, even if only the internal force from the adjacent parts is applied, the influence on the other parts due to the force applied to the given part can be transmitted to the distant parts by the next frame. Therefore, according to the present invention, it is possible to generate a motion that can express the influence of an impact or the like applied to a given part on other parts with a small calculation load.
[0017]
(2) In the game system, information storage medium, and program according to the present invention, the motion generation means rotates the joint of the part based on a component that contributes to the rotation of the joint of the part of the resultant force of the external force and the internal force. It is characterized by calculating information.
[0018]
The component of the resultant force that contributes to the rotation of the joint of the part is a component force (component) perpendicular to the part joint (rotation link).
[0019]
According to the present invention, since the rotation information of the part is calculated based on the component, the rotation of the part according to the acting force can be realistically expressed.
[0020]
(3) In the game system, the information storage medium, and the program according to the present invention, the motion generation unit is connected to the component that does not contribute to the rotation of the joint of the part of the resultant force of the external force and the internal force. It is made to act on the matching parent part as the internal force.
[0021]
The component that does not contribute to the rotation of the joint of the part of the resultant force is a component force (component) parallel to the joint (rotation link) of the part.
[0022]
According to the present invention, such a component acts on the adjacent parent parts connected by a joint as the internal force, so that the influence of the force can be transmitted to other parts.
[0023]
(4) In addition, the game system, the information storage medium, and the program according to the present invention may be configured such that the motion generation unit has a combination of the external force and the internal force when there is no adjacent parent part connected by a joint. The displacement of the position of the object is obtained based on a component that does not contribute to the rotation of the joint.
[0024]
When there are no adjacent parent parts connected by a joint, for example, the acceleration of the entire object is obtained based on the component of the resultant force that does not contribute to the rotation of the joint of the part, and the displacement of the position of the object is determined based on the acceleration. You may do it.
[0025]
According to the present invention, it is possible to realistically represent a change in the position of an object due to a force applied to a given part.
[0026]
(5) The game system, information storage medium, and program according to the present invention are characterized in that the motion generating means generates a motion of the object when an impact vector is applied to a given part of the object. And
[0027]
According to the present invention, when an unpredictable impact vector that is interactively generated according to the progress of the game is added, it is possible to generate a motion that reflects the impacted part and the magnitude and direction of the impact in real time. .
[0028]
Therefore, it is possible to express a realistic motion corresponding to the impact without preparing various motions different for each combination of impacted parts and impact magnitude and direction.
[0029]
(6) In the game system, the information storage medium, and the program according to the present invention, the motion generation unit sets a rotatable range for a given joint, and each joint is set so as to be within the rotatable range. Rotation information is obtained.
[0030]
In general, when the rotation of each joint is determined only by the acceleration generated by the acting force, there is a possibility that a problem due to overlapping (hits) of positions with other parts may occur. In order to avoid this, correction by hit check is necessary. However, if correction by hit check with all parts is performed, the calculation load increases.
[0031]
According to the present invention, a rotatable range is set in advance for each joint, and rotation information of each joint is determined so as to be within the rotatable range. Therefore, for example, by setting a rotatable range in advance so as not to cause a problem with other parts, correction by hit check with other parts can be omitted.
[0032]
Therefore, it is possible to generate a suitable motion that does not cause problems due to hits of each part with a small calculation load.
[0033]
(7) Further, the present invention is a game system for generating an image, wherein a rotatable range is set for each joint of an object in which a plurality of parts are connected by a joint, and the rotation of each joint so as to be within the rotatable range. Obtaining information, generating a motion of an object in which the plurality of parts are connected by joints in real time, and arranging each part according to the generated motion, and generating an image of the object in which the plurality of parts are connected by joints Means.
[0034]
The information storage medium according to the present invention is an information storage medium that can be used by a computer, and includes a program for executing the above means. The program according to the present invention is a program that can be used by a computer (including a program embodied in an information storage medium or a carrier wave), and includes a module for executing the above means.
[0035]
In general, when the rotation of each joint is determined only by the acceleration generated by the acting force, there is a possibility that a problem due to overlapping (hits) of positions with other parts may occur. In order to avoid this, correction by hit check is necessary. However, if correction by hit check with all parts is performed, the calculation load increases.
[0036]
According to the present invention, a rotatable range is set in advance for each joint, and rotation information of each joint is determined so as to be within the rotatable range. Therefore, for example, by setting a rotatable range in advance so as not to cause a problem with other parts, correction by hit check with other parts can be omitted.
[0037]
Therefore, it is possible to generate a suitable motion that does not cause problems due to hits of each part with a small calculation load.
[0038]
(8) Further, the game system, information storage medium, and program according to the present invention hold a rotatable range preset for each joint in the form of a rotatable angle of at least one axis of the local coordinate system of each joint. It is characterized by that.
[0039]
The at least one axis of the local coordinate system of each joint is at least one of the X, Y, and Z axes of the local coordinate system of each joint. Accordingly, the rotatable range may be held for any one or two of them, or the rotatable range may be held for all three axes.
[0040]
(9) In addition, the game system, information storage medium, and program according to the present invention hold a rotatable range preset for each joint in the form of a range that the elements of the rotation matrix for each joint can take. It is characterized by that.
[0041]
In general, when a rotation calculation of each part is performed by a computer, a matrix calculation using a rotation matrix is performed. Therefore, when the rotatable range is held in the form of the range that can be taken by the elements of the rotation matrix for each joint as in the present invention, the rotation information of each joint is obtained by using the values of the elements of the rotation matrix used for the rotation calculation as they are. Since it can be obtained, the calculation efficiency is good.
[0042]
(10) In the game system, the information storage medium, and the program according to the present invention, the rotation range that is set in advance for each of the joints does not cause a problem due to a hit with other parts constituting the object. It is set in such a range.
[0043]
According to the present invention, since correction by hit check with other parts can be omitted, it is possible to generate a suitable motion that does not cause a problem due to hit of each part with a small calculation load.
[0044]
(11) In the game system, information storage medium, and program according to the present invention, the motion generating means generates a motion of the object when an impact vector is applied to a given part of the object. And
[0045]
According to the present invention, when an unpredictable impact vector that is interactively generated according to the progress of the game is added, it is possible to generate a motion that reflects the impacted part and the magnitude and direction of the impact in real time. .
[0046]
Therefore, it is possible to express realistic motion according to the impact without preparing various motions that differ depending on the combination of the impacted parts and the magnitude and direction of the impact.
[0047]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
[0048]
1. Constitution
FIG. 1 shows an example of a block diagram of this embodiment. In this figure, the present embodiment only needs to include at least the processing unit 100, and the other blocks can be arbitrary constituent elements.
[0049]
Here, the processing unit 100 performs various processes such as control of the entire system, instruction instruction to each block in the system, game processing, image processing, sound processing, and the like. , DSP, etc.) or ASIC (gate array, etc.) or a given program (game program).
[0050]
The operation unit 160 is used by the player to input operation data, and the function can be realized by hardware such as a lever, a button, and a housing.
[0051]
The storage unit 170 serves as a work area for the processing unit 100, the communication unit 196, and the like. The storage unit 170 functions as a main memory 172 and a frame buffer 174 (first frame buffer and second frame buffer), and includes hardware such as a RAM. Can be realized.
[0052]
An information storage medium (storage medium usable by a computer) 180 stores information such as programs and data, and functions thereof are an optical disk (CD, DVD), a magneto-optical disk (MO), a magnetic disk, and a hard disk. It can be realized by hardware such as a magnetic tape or a memory (ROM). The processing unit 100 performs various processes of the present invention (this embodiment) based on information stored in the information storage medium 180. That is, the information storage medium 180 stores information (program or data) for executing the means of the present invention (this embodiment) (particularly, the blocks included in the processing unit 100).
[0053]
Part or all of the information stored in the information storage medium 180 is transferred to the storage unit 170 when the system is powered on. Information stored in the information storage medium 180 includes program code, image data, sound data, display object shape data, table data, list data, and data for instructing the processing of the present invention. It includes at least one of information, information for performing processing according to the instruction, and the like.
[0054]
The display unit 190 outputs an image generated according to the present embodiment, and the function thereof can be realized by hardware such as a CRT, LCD, or HMD (head mounted display).
[0055]
The sound output unit 192 outputs the sound generated by the present embodiment, and its function can be realized by hardware such as a speaker.
[0056]
The save information storage device 194 stores player's personal data (save data), and the save information storage device 194 may be a memory card or a portable game device.
[0057]
The communication unit 196 performs various controls for communicating with the outside (for example, a host device or other game system), and functions thereof are various processors, hardware such as a communication ASIC, It can be realized by a program.
[0058]
The program or data for executing the means of the present invention (this embodiment) may be distributed from the information storage medium of the host device (server) to the information storage medium 180 via the network and the communication unit 196. Good. Use of such an information storage medium of the host device (server) is also included in the scope of the present invention.
[0059]
The processing unit 100 includes a game processing unit 110, an image generation unit 130, and a sound generation unit 150.
[0060]
Here, the game processing unit 110 receives a coin (price) reception process, various mode setting processes, a game progress process, a selection screen setting process, the position and rotation angle (X, Processing to obtain the rotation angle around the Y or Z axis), processing to move the object (motion processing), processing to obtain the viewpoint position (virtual camera position) and line-of-sight angle (virtual camera rotation angle), objects such as map objects Various games such as processing for placing a game in the object space, hit check processing, processing for calculating game results (results, results), processing for multiple players to play in a common game space, or game over processing The processing includes operation data from the operation unit 160, personal data from the save information storage device 194, Carried out on the basis of such as the over-time program.
[0061]
The image generation unit 130 performs various types of image processing in accordance with instructions from the game processing unit 110, for example, generates an image that can be seen from a virtual camera (viewpoint) in the object space, and outputs the generated image to the display unit 190. In addition, the sound generation unit 150 performs various types of sound processing in accordance with instructions from the game processing unit 110, generates sounds such as BGM, sound effects, and voices, and outputs them to the sound output unit 192.
[0062]
Note that all of the functions of the game processing unit 110, the image generation unit 130, and the sound generation unit 150 may be realized by hardware, or all of them may be realized by a program. Alternatively, it may be realized by both hardware and a program.
[0063]
The game processing unit 110 includes a movement / motion calculation unit 112 and a motion generation processing unit 114.
[0064]
Here, the movement / motion calculation unit 112 calculates movement information (position data, rotation angle data) and movement information (position data of each part of the object, rotation angle data) of an object such as a character car. Then, based on operation data input by the player through the operation unit 160, a game program, or the like, a process of moving or moving the object is performed.
[0065]
More specifically, the movement / motion calculation unit 112 performs processing for obtaining the position and rotation angle of the object every frame (1/60 seconds), for example. For example, the position of the object in the (k-1) frame is PMk-1, the speed is VMk-1, the acceleration is AMk-1, and the time of one frame is Δt. Then, the position PMk and speed VMk of the object in the k frame are obtained, for example, by the following equations (1) and (2).
[0066]
PMk = PMk-1 + VMk-1 * .DELTA.t (1)
VMk = VMk-1 + AMk-1 * .DELTA.t (2)
In addition, the motion generation processing unit 114 determines the joint of the part based on the external force applied to the given part of the object in which a plurality of parts are connected by the joint and the internal force acting on the part from the adjacent part connected by the joint. Processing for obtaining rotation information is performed for each part constituting the object, and processing for generating motion of the object in which the plurality of parts are connected by joints is performed.
[0067]
Further, a process of calculating rotation information of the joint of the part based on a component contributing to the rotation of the joint of the part of the resultant force of the external force and the internal force may be performed.
[0068]
Moreover, you may make it perform the process which makes the component which does not contribute to rotation of the joint of the said part of the resultant force of the said external force and the said internal force act as said internal force on the adjacent parent parts connected by the joint.
[0069]
Further, when there is no adjacent parent part connected by a joint, a process for obtaining a displacement of the position of the object based on a component that does not contribute to the rotation of the joint of the part of the resultant force of the external force and the internal force may be performed. Good.
[0070]
Further, when an impact vector is applied to a given part of the object, a process for generating a motion of the object may be performed.
[0071]
Alternatively, a rotatable range may be set for a given joint, and processing for obtaining rotation information of each joint so as to be within the rotatable range may be performed.
[0072]
The image generation unit 130 includes a geometry processing unit 132 and a drawing unit 140, which performs a process of arranging each part according to the generated motion and generating an image of an object in which a plurality of parts are connected by joints.
[0073]
Here, the geometry processing unit 132 performs various types of geometry processing (three-dimensional calculation) such as coordinate transformation, clipping processing, perspective transformation, or light source calculation. Then, the object data (shape data such as vertex coordinates of the object, vertex texture coordinates, luminance data, etc.) after geometry processing (after perspective transformation) is stored in the main memory 172 of the storage unit 170.
[0074]
The drawing unit 140 performs processing for drawing the object (model) after the geometry processing in the frame buffer 174.
[0075]
A polygon having a display screen size may be used as the object, or a polygon having a block size obtained by dividing the display screen may be used.
[0076]
Note that the game system of the present embodiment may be a system dedicated to the single player mode in which only one player can play, and not only such a single player mode but also a multiplayer mode in which a plurality of players can play. A system may be provided.
[0077]
Further, when a plurality of players play, game images and game sounds to be provided to the plurality of players may be generated using one terminal, or connected via a network (transmission line, communication line) or the like. Alternatively, it may be generated using a plurality of terminals.
[0078]
2. Features and processing of this embodiment
The features and processing of this embodiment will be described.
[0079]
First, motion data for generating a motion of an object in which a plurality of parts are connected by joints will be described taking a human body object as an example.
[0080]
2 and 3 are diagrams for explaining the relationship between a joint (motion bone) of a human body object and motion data. Reference numeral 200 in FIG. 2 denotes a human body object configured by connecting a plurality of parts P1 to P15 such as a head, a torso, an arm, and a leg with joints K1 to K15 (motion bones).
[0081]
For example, part 1 (P1) is the parent of part 2 (P2), part 2 (P2) is the parent of part 3 (P3), and part 4 (P4) is the parent of part 5 (P5).
[0082]
In general, when a given motion of an object having m joints is generated in 1 to n frames, position information and rotation information of each joint in the frame are provided as motion data for each frame, for example.
[0083]
Then, by moving the joints (motion bones) K1 to K15 according to the motion data, the motion of the human body object in which a plurality of parts are connected by the joints is expressed.
[0084]
FIG. 3 shows an example of motion data of the human body object.
[0085]
When generating a given motion in n + 1 frames from 0 to n, for example, as shown in FIG. 3, position information and rotation information for each joint in the frame are used as motion data for each frame.
[0086]
Here, the position information (tx, ty, tz) is the position information of the start point of the joint relative to the start point of the parent joint given by position information (in the local coordinate system).
[0087]
For example, the position information of the part 2 (P2) is given by the relative position information of the start point S2 of the joint K2 with respect to the start point S1 of the parent joint K1.
[0088]
The position information of the part 3 (P3) is given as relative position information of the start point S3 of the joint K3 with respect to the start point S2 of the parent joint K2.
[0089]
Further, the position information of the uppermost part 1 (P1) is given by the relative position information of the starting point S1 of the joint K1 with respect to the reference position of the object (the origin O in FIG. 2).
[0090]
The rotation information is given, for example, as rotation information (rx, ry, rz) in the three-axis directions of the joint with respect to the upper joint to which the joint is connected.
[0091]
Usually, a plurality of patterns of such motion data are prepared in advance, the motion data expressing the optimal action is selected according to the game situation, and the motion of the human body object is generated using the motion data.
[0092]
However, when an impact is applied to a given part that makes up a human body object, all the motion data corresponding to all combinations of the impacted part and the magnitude and direction of the impact are prepared. Increases the amount. Therefore, in the present embodiment, processing for generating motion data reflecting the impact applied to the object in real time is performed.
[0093]
Here, generating motion data by completely simulating the impact that occurs during the game causes an increase in calculation load. Therefore, in this embodiment, an external force applied to each part of an object in which a plurality of parts are connected by joints. A process for generating rotation information of each part based on an internal force acting on the part from adjacent parts connected by a joint is performed.
[0094]
FIG. 4 is a diagram for explaining the force acting on a given part. Here, the force acting on the part is, for example, gravity mg (m is the mass of the joint, g is a gravitational constant), terrain drag N, pulling / pushing force Fc of the child part, and the like. Here, mg and N are external forces, Fc is an internal force, and the resultant force of these internal forces and external forces is the force acting on the part.
[0095]
FIG. 5 is a diagram for explaining the relationship between the rotational component and translational component of force and the rotational information of the parts.
[0096]
Here, it is assumed that the F vector acts as a part acting force (synthetic force) and 310 is a joint (motion bone). O is a connection point with the parent joint and is the center of the link. P is an action point of the resultant force F vector.
[0097]
Here, among the force F vectors acting on the joint 310, a component Fv vector perpendicular to the vector OP consisting of the link center O and the action point P acts on the rotation of the link. Therefore, in the present embodiment, an equation of motion is obtained based on a component Fv vector contributing to the rotation of the part among the resultant force F vector, an angular acceleration is obtained, an angular velocity is obtained based on the angular acceleration, and based on the angular velocity vector, Obtain the amount of angular movement and use it as the rotation angle of the part.
[0098]
The Fp vector, which is a component parallel to the OP vector, is passed to the parent link calculation as a force for pulling the parent joint. That is, the component Fp vector that does not contribute to the rotation of the part of the resultant force F vector is caused to act as the internal force on adjacent parent parts connected by joints.
[0099]
FIG. 6 is a flowchart for obtaining the acceleration of the part and the internal force applied to the parent part based on the force applied to the given part.
[0100]
First, j is initialized (step S10). Here, j is a counter for counting the acting force.
[0101]
Next, j is incremented (step S20).
[0102]
Then, the F (j) vector is decomposed into an Fv (j) vector and an Fp (j) vector. Here, the F (j) vector is a resultant force, the Fv (j) vector is a component acting on the link rotation (component contributing to the rotation of the part), and the Fp (j) vector is a component parallel to the link (part (Component that does not contribute to the rotation) (see FIG. 5).
[0103]
Next, the Fv (j) vector is converted into rotational angular acceleration a (j) (step S40).
[0104]
Next, the obtained a (j) vector is added to the a vector (step S50). Here, the a vector is a total of the angular acceleration a (j) vectors.
[0105]
Next, the obtained Fp (j) vector is added to the Fp vector (step S60). Here, the Fp vector is a total of components parallel to the link (components that do not contribute to part rotation) Fp (j).
[0106]
If the processing has not been completed for all acting force Fp (j) vectors, the processing from step S20 to step S70 is repeated.
[0107]
Next, the limitation on the rotation range of the joint will be described. When the rotation information of each joint is determined only by the acceleration generated by the acting force, there is a possibility that a defect due to overlapping (hits) of positions with other parts may occur, so correction by hit check is necessary. However, if correction is performed by hit check with all parts, there is a problem that the calculation load increases.
[0108]
Therefore, in the present embodiment, a rotatable range is set in advance for each joint, and rotation information of each joint is determined so as to be within the rotatable range. Here, by setting a rotatable range in advance so as not to cause a problem with other parts, correction by hit check with other parts can be omitted. Here, a correction example of rotation information will be described by taking as an example a case where a rotatable range preset for each joint is held in the form of a range that can be taken by elements of a rotation matrix for each joint.
[0109]
FIG. 7 is a diagram for explaining the relationship between the rotation matrix and the three-axis rotation information.
[0110]
Here, it is assumed that the rotation matrix M is given by the following equation.
[0111]
[Expression 1]

[0112]
Each element of the matrix M is equal to each ex vector, ey vector, ez vector, and V vector in FIG. Here, the ex vector, the ey vector, and the ez vector are the orientation vectors of the X axis, the Y axis, and the Z axis of the joint converted by M, and the V vector is a joint movement component.
[0113]
FIG. 8 is a diagram for explaining a joint rotation restriction method by restricting the range of elements of a rotation matrix. As shown in the figure, the y coordinate (a ₁₁ ) Is a possible value for y ₀ <A ₁₁ By limiting the range, the range in which the ey vector can be moved can be limited to a rotatable range (in the half portion) 410. By restricting the other parameters in the same manner, the direction of the joint can be specified in a detailed range.
[0114]
In general, when a rotation calculation of each part is performed by a computer, a matrix calculation using a rotation matrix is performed. Therefore, when the rotatable range is held in the form of the rotatable angle with respect to the three axes of the local coordinate system of each joint, the rotation matrix obtained by the matrix calculation and the rotatable angle with respect to the three axes of the local coordinate system of each joint. Comparison with is necessary. Therefore, calculation of rotation parameter and rotation matrix conversion is required.
[0115]
However, since this method uses only the parameters of the matrix and does not require the rotation parameters rx, ry, rz, the calculation efficiency is high because the calculation of conversion between the rotation parameters and the rotation matrix is unnecessary.
[0116]
FIG. 9 is a flowchart for explaining the overall flow when the motion of an object in which a plurality of parts are connected by a joint is generated and displayed in real time.
[0117]
First, the arrangement of each part constituting the object is initialized (step S110). Here, the initialization means to make each part constituting the object a reference state. This is because the rotation information of each joint for generating the motion is given as a displacement with respect to the reference state.
[0118]
Next, joint placement processing for calculating joint placement (motion data) by the force acting on each part is performed (step S120). Details of the joint placement processing will be described with reference to the flowchart of FIG.
[0119]
Next, an arrangement correction process is performed for hits between the parts and the terrain when arranged by the arrangement (motion data) obtained by the joint arrangement process (step S130). Details of the placement correction processing for hits between parts and terrain will be described with reference to the flowcharts of FIGS.
[0120]
Next, a process of correcting the arrangement (motion data) obtained by the arrangement correction process for each part and terrain hit within a rotatable range given in advance is performed (step S140). Details of the process of correcting within the rotatable range will be described with reference to the flowchart of FIG.
[0121]
FIG. 10 is a flowchart for explaining details of the joint placement processing.
[0122]
First, 1 is set to i (step S210). Here, i is a counter for counting joints.
[0123]
First, the force acting on the i-th joint is obtained (step S220).
[0124]
Next, based on the force acting on the i-th part, a process for obtaining the acceleration of the part and the internal force acting on the parent part is performed (step S230). Details of the processing are as described in the flowchart of FIG.
[0125]
Next, the obtained rotation angular acceleration a vector is added to the rotation angular velocity r (i) vector of the previous frame to obtain the rotation angular velocity r (i) vector of the current frame (step S240).
[0126]
Next, a rotational angular velocity matrix Mv is obtained from the rotational angular velocity r (i) vector (step S250). Detailed processing for obtaining the rotation speed matrix Mv from the rotation angular velocity r (i) vector will be described later.
[0127]
Then, the i-th matrix M (i) of the current frame is obtained by multiplying the obtained rotation angular velocity matrix Mv by the i-th matrix M (i) of the previous frame (M (i) = MvM (i)) (step S260). ).
[0128]
If there is a parent part, the Fp vector is passed to the parent part (steps S270 and S280). In the present embodiment, the parent part receives only the force acting from the adjacent child parts as the internal force from other parts. Therefore, the amount of calculation can be greatly reduced as compared with the case where forces from all other parts are applied.
[0129]
If there is no parent part, the acceleration of the entire object is obtained from the Fp vector, added to the velocity V vector (step S290), and the V vector is added to the object center position p vector (step S300).
[0130]
If i <N, i is incremented (i = i + 1), and the processing from step S220 to step S310 is repeated (steps S310 and S320). Here, N is the number of joints constituting the object.
[0131]
11 and 12 are flowcharts for explaining the arrangement correction processing for hits between parts and terrain.
[0132]
First, 1 is set to i (step S410). Here, i is a counter for counting joints.
[0133]
Then, the position of the hit ball of the i-th joint is obtained (step S420). Here, the hit sphere is a hit check sphere set in order to perform a simple hit check on the parts of the joint.
[0134]
If the hit ball hits the terrain, the following processing is performed.
[0135]
First, the position of the amount that has been reduced to the terrain is corrected (step S440).
[0136]
Joint Rotation Speed The movement speed of the hit sphere is obtained from the rotational angular velocity r (i) vector of the joint (step S450).
[0137]
The impact force of the elastic collision is obtained from the velocity of the hit sphere and the normal vector of the terrain (step S460).
[0138]
The impact force is applied from the center of rotation to the acting point direction component Fp vector and the component perpendicular thereto.
The Fv vector is decomposed (step S470).
[0139]
The Fv vector is converted into a rotation component to obtain a rotation angular acceleration a vector (step S480).
[0140]
Next, the obtained rotation angular acceleration a vector is added to the rotation angular velocity r (i) vector of the previous frame to obtain the rotation angular velocity r (i) vector of the current frame (step S490).
[0141]
Next, a rotational angular velocity matrix Mv is obtained from the rotational angular velocity r (i) vector (step S500). Detailed processing for obtaining the rotation speed matrix Mv from the rotation angular velocity r (i) vector will be described later.
[0142]
Then, the i-th matrix M (i) of the current frame is obtained by multiplying the obtained rotation angular velocity matrix Mv by the i-th matrix M (i) of the previous frame (M (i) = MvM (i)) (step S510). ).
[0143]
If there is a parent part, the Fp vector is passed to the parent part (steps S520 and S530). In the present embodiment, the parent part receives only the force acting from the adjacent child parts as the internal force from other parts. Therefore, the amount of calculation can be greatly reduced as compared with the case where forces from all other parts are applied.
[0144]
If there is no parent part, the acceleration of the entire object is obtained from the Fp vector, added to the velocity V vector (step S540), and the V vector is added to the object center position p vector (step S550).
[0145]
If i <N, i is incremented (i = i + 1), and the processing from step S420 to step S560 is repeated (steps S560 and S570). Here, N is the number of joints constituting the object.
[0146]
Finally, the position of the hit sphere at the center of the object is obtained (step S580).
[0147]
When the hit sphere hits the terrain, the amount of decrease in the terrain is corrected, the collision with the terrain is calculated for the object center velocity V vector, and the velocity V vector after the collision is obtained (step) S590, S600, S610).
[0148]
FIG. 13 is a flowchart for explaining processing for correcting within the rotatable range when the rotatable range is given in the form of rotation parameters (rotatable angles with respect to the three axes of the local coordinate system of each joint). is there.
[0149]
First, i is set to 1 (step S710). Here, i is a counter for counting joints.
[0150]
Then, rotation parameters (rx (i), ry (i), rz (i)) are obtained from the joint matrix M (i) (step S720). A method for converting the joint matrix M (i) into the rotation parameters (rx (i), ry (i), rz (i)) will be described later.
[0151]
If rx (i) is not within the pre-given X axis rotatable range, rx (i) is corrected within the rotatable range (steps S730 and S740). Here, the X-axis rotatable range given in advance is RX (i), and when rx> RX (i), rx = RX (i).
[0152]
If ry (i) is not within the pre-given Y axis rotatable range, ry (i) is corrected within the rotatable range (steps S750 and S760). Here, if the Y axis rotation range given in advance is RY (i) and ry> RY (i), ry (i) = RY (i).
[0153]
If rz (i) is not within the pre-given Z axis rotatable range, rz is corrected within the rotatable range (steps S770 and S780). Here, when the Z-axis rotatable range given in advance is RZ (i) and rz (i)> RZ (i), rz (i) = RZ (i).
[0154]
Then, the joint matrix M (i) is obtained from the rotation parameters (rx (i), ry (i), rz (i)) (step S790).
[0155]
If i <N, i is incremented (i = i + 1), and the processes in steps S720 to S800 are repeated (steps S800 and S810). Here, N is the number of parts constituting the object.
[0156]
FIG. 14 is a flowchart for explaining a process for correcting within the rotatable range when the rotatable range is given in the form of an element of the rotation matrix.
[0157]
First, i is set to 1 (step S910). Here, i is a counter for counting joints.
[0158]
Here, let M (i) be a rotation matrix obtained by the processing up to now. M (i) is as follows.
[0159]
[Expression 2]

[0160]
Where a ₀₀ (I), a ₁₁ (I), a _{twenty two} A possible range is given in advance for (i). a ₀₀ (I) is an x component of the ex vector (rotation information in the X-axis direction of the X-axis of the local coordinate system), and a ₁₁ (I) y component of the ey vector (rotation information in the Y-axis direction of the local coordinate system Y-axis), and a _{twenty two} (I) The z component of the ez vector (rotation information in the Z-axis direction of the local coordinate system Z-axis).
[0161]
a ₀₀ If (i) is not within the predetermined range, a ₀₀ The amount of movement of the ex vector required for (i) to return within the range is obtained (steps S920 and S930).
[0162]
Then, the movement amount is converted into the rotation amount, and the rotation matrix ΔM is obtained (S940).
[0163]
Then, M (i) = M (i) ΔM is performed to obtain a corrected rotation matrix M (i) (step S950).
[0164]
a ₁₁ If (i) is not within the predetermined range, a ₁₁ The amount of movement of the ey vector required for (i) to return within the range is obtained (steps S960 and S970).
[0165]
Then, the movement amount is converted into the rotation amount, and the rotation matrix ΔM is obtained (S980).
[0166]
Then, M (i) = M (i) ΔM is performed to obtain a corrected rotation matrix M (i) (step S990).
[0167]
a _{twenty two} If (i) is not within the predetermined range, a _{twenty two} The amount of movement of the ez vector required for (i) to return within the range is obtained (steps S1000 and S1010). Then, the movement amount is converted into a rotation amount, and a rotation matrix ΔM is obtained (S1020).
[0168]
Then, M (i) = M (i) ΔM is performed to obtain a corrected rotation matrix M (i) (step S1030).
[0169]
If i <N, i is incremented (i = i + 1), and the processing from step S920 to step S1030 is repeated (steps S1040 and S1050). Here, N is the number of joints constituting the object.
[0170]
FIG. 15 is a diagram for explaining a method for obtaining the rotation information from the movement amount.
[0171]
First, an acceleration is obtained from a resultant force F vector (not shown) based on an equation of motion, a speed is obtained based on the acceleration, and a movement amount V vector is obtained based on the speed vector.
[0172]
For example, it is assumed that the OP vector is moved to the OP ′ vector by the Fv vector. If the movement amount in this case is a V vector, the rotation amount w (wx, wy, wz) is given by the following equation.
[0173]
[Equation 3]

[0174]
The movement amount V vector of the point P vector when the xyz rotation axis is rotated by the W vector is given by the following equation.
[0175]
[Expression 4]

[0176]
Next, detailed processing for obtaining the rotation angular velocity matrix Mv from the rotation angular velocity r vector will be described.
[0177]
In general, the matrix M when the vector v = (x, y, z, 1) is rotated (Rx, Ry, Rz) and translated (Tx, Ty, Tz) is given by the following equation.
[0178]
[Equation 5]

[0179]
In this case, the converted vector v ′ is obtained as v ′ = vM.
[0180]
Further, it is assumed that there is a known matrix M as follows.
[0181]
[Formula 6]

[0182]
When the rotation parameters (Rx, Ry, Rz) corresponding to this matrix M are to be obtained, the following is solved by substituting each element of M into (1).
[0183]
(1) a ₀₂ In the case of ≠ ± 1, two solutions (Formula 1) or (Formula 2) below are obtained.
[0184]
[Expression 7]

[0185]
Where tan ^-1 (X, y) is θ when sin θ = y and cos θ = x.
[0186]
(2) a ₀₂ = 1, cosRy = 0, so a ₀₀ = A ₀₁ = A ₁₂ = A _{twenty two} = 0. Accordingly, the solutions of Rx and Rz are indefinite, and Ry and Rz are as follows.
[0187]
[Equation 8]

[0188]
Here, based on the previous value of Rx, Rx and Rz may be obtained as the current Rx = the previous Rx.
[0189]
(3) a ₀₂ When == − 1, the solutions of Rx and Rz are indefinite as in (2), and Ry and Rz are as follows.
[0190]
[Equation 9]

[0191]
Here, based on the previous value of Rx, Rx and Rz may be obtained as the current Rx = the previous Rx.
[0192]
The translation parameters are (Tx, Ty, Tz) = (a ₃₀ , A ₃₁ , A ₃₂ ).
[0193]
3. Hardware configuration
Next, an example of a hardware configuration capable of realizing the present embodiment will be described with reference to FIG.
[0194]
The main processor 900 operates based on a program stored in the CD 982 (information storage medium), a program transferred via the communication interface 990, or a program stored in the ROM 950 (one of information storage media). Various processes such as processing, image processing, and sound processing are executed.
[0195]
The coprocessor 902 assists the processing of the main processor 900, has a product-sum calculator and a divider capable of high-speed parallel calculation, and executes matrix calculation (vector calculation) at high speed. For example, if a physical simulation for moving or moving an object requires processing such as matrix operation, a program operating on the main processor 900 instructs (requests) the processing to the coprocessor 902. )
[0196]
The geometry processor 904 performs geometry processing such as coordinate transformation, perspective transformation, light source calculation, and curved surface generation, has a product-sum calculator and a divider capable of high-speed parallel computation, and performs matrix computation (vector computation). Run fast. For example, when processing such as coordinate transformation, perspective transformation, and light source calculation is performed, a program operating on the main processor 900 instructs the geometry processor 904 to perform the processing.
[0197]
The data decompression processor 906 performs a decoding process for decompressing the compressed image data and sound data, and a process for accelerating the decoding process of the main processor 900. As a result, a moving image compressed by a given image compression method can be displayed on an opening screen, an intermission screen, an ending screen, a game screen, or the like. Note that the image data and sound data to be decoded are stored in the ROM 950 and the CD 982 or transferred from the outside via the communication interface 990.
[0198]
The drawing processor 910 performs drawing (rendering) processing of an object composed of primitive surfaces such as polygons and curved surfaces at high speed. When drawing an object, the main processor 900 uses the function of the DMA controller 970 to pass the object data to the drawing processor 910 and transfer the texture to the texture storage unit 924 if necessary. Then, the rendering processor 910 renders the object in the frame buffer 922 at high speed while performing hidden surface removal using a Z buffer or the like based on the object data and texture. The drawing processor 910 can also perform α blending (translucent processing), depth cueing, mip mapping, fog processing, bilinear filtering, trilinear filtering, anti-aliasing, shading processing, and the like. When an image for one frame is written in the frame buffer 922, the image is displayed on the display 912.
[0199]
The sound processor 930 includes a multi-channel ADPCM sound source and the like, and generates high-quality game sounds such as BGM, sound effects, and sounds. The generated game sound is output from the speaker 932.
[0200]
Operation data from the game controller 942, save data from the memory card 944, and personal data are transferred via the serial interface 940.
[0201]
The ROM 950 stores system programs and the like. In the case of an arcade game system, the ROM 950 functions as an information storage medium, and various programs are stored in the ROM 950. A hard disk may be used instead of the ROM 950.
[0202]
The RAM 960 is used as a work area for various processors.
[0203]
The DMA controller 970 controls DMA transfer between the processor and memory (RAM, VRAM, ROM, etc.).
[0204]
The CD drive 980 drives a CD 982 (information storage medium) in which programs, image data, sound data, and the like are stored, and enables access to these programs and data.
[0205]
The communication interface 990 is an interface for transferring data to and from the outside via a network. In this case, as a network connected to the communication interface 990, a communication line (analog telephone line, ISDN), a high-speed serial bus, or the like can be considered. By using a communication line, data transfer via the Internet becomes possible. Also, by using the high-speed serial bus, data transfer between other game systems and other game systems becomes possible.
[0206]
All of the means of the present invention may be executed by hardware alone, or may be executed only by a program stored in an information storage medium or a program distributed via a communication interface. Alternatively, it may be executed by both hardware and a program.
[0207]
When each means of the present invention is executed by both hardware and a program, a program for executing each means of the present invention using hardware is stored in the information storage medium. Become. More specifically, the program instructs each processor 902, 904, 906, 910, 930, etc., which is hardware, and passes data if necessary. Each processor 902, 904, 906, 910, 930, etc. executes each means of the present invention based on the instruction and the passed data.
[0208]
FIG. 17A shows an example in which the present embodiment is applied to an arcade game system. The player enjoys the game by operating the lever 1102, the button 1104, and the like while viewing the game image displayed on the display 1100. Various processors and various memories are mounted on the built-in system board (circuit board) 1106. Information (program or data) for executing each means of the present invention is stored in a memory 1108 which is an information storage medium on the system board 1106. Hereinafter, this information is referred to as storage information.
[0209]
FIG. 17B shows an example in which the present embodiment is applied to a home game system. The player enjoys the game by operating the game controllers 1202 and 1204 while viewing the game image displayed on the display 1200. In this case, the stored information is stored in a CD 1206 or a memory card 1208, 1209, which is an information storage medium that is detachable from the main system.
[0210]
FIG. 17C shows a host device 1300 and terminals 1304-1 to 1304-n connected to the host device 1300 via a network 1302 (a small-scale network such as a LAN or a wide area network such as the Internet). An example of applying this embodiment to a system including In this case, the stored information is stored in an information storage medium 1306 such as a magnetic disk device, a magnetic tape device, or a memory that can be controlled by the host device 1300, for example. When the terminals 1304-1 to 1304-n can generate game images and game sounds stand-alone, the host device 1300 receives a game program and the like for generating game images and game sounds from the terminal 1304-. 1 to 1304-n. On the other hand, if it cannot be generated stand-alone, the host device 1300 generates a game image and a game sound, which is transmitted to the terminals 1304-1 to 1304-n and output at the terminal.
[0211]
In the case of the configuration shown in FIG. 17C, each unit of the present invention may be executed in a distributed manner between the host device (server) and the terminal. The storage information for executing each means of the present invention may be distributed and stored in the information storage medium of the host device (server) and the information storage medium of the terminal.
[0212]
The terminal connected to the network may be a home game system or an arcade game system. When the arcade game system is connected to a network, the save information storage device can exchange information with the arcade game system and exchange information with the home game system. It is desirable to use (memory card, portable game device).
[0213]
The present invention is not limited to the one described in the above embodiment, and various modifications can be made.
[0214]
For example, in the invention according to the dependent claims of the present invention, a part of the constituent features of the dependent claims can be omitted. Moreover, the principal part of the invention according to one independent claim of the present invention can be made dependent on another independent claim.
[0215]
The present invention can also be applied to various games (such as fighting games, shooting games, robot battle games, sports games, competitive games, role playing games, music playing games, dance games, etc.).
[0216]
Further, the present invention can be applied to various game systems such as a business game system, a home game system, a large attraction system in which a large number of players participate, a simulator, a multimedia terminal, and a system board for generating game images.
[Brief description of the drawings]
FIG. 1 is an example of a block diagram of a game system according to the present embodiment.
FIG. 2 is a diagram for explaining a relationship between a joint (motion bone) of a human body object and motion data.
FIG. 3 is a diagram for explaining a relationship between a joint (motion bone) of a human body object and motion data.
FIG. 4 is a diagram for explaining a force acting on a given part.
FIG. 5 is a diagram for explaining a relationship between force rotation components and translation components and part rotation information;
FIG. 6 is a flowchart for determining the acceleration of the part and the internal force applied to the parent part based on the force applied to a given part.
FIG. 7 is a diagram for explaining a relationship between a rotation matrix and three-axis rotation information.
FIG. 8 is a diagram for explaining a joint rotation restriction method by restricting the range of elements of a rotation matrix;
FIG. 9 is a flowchart for explaining an overall flow when generating and displaying a motion of an object in which a plurality of parts are connected by a joint in real time;
FIG. 10 is a flowchart for explaining details of joint placement processing;
FIG. 11 is a flowchart for explaining an arrangement correction process for hits between parts and terrain.
FIG. 12 is a flowchart for explaining an arrangement correction process for hits between parts and terrain.
FIG. 13 is a flowchart for explaining processing for correcting within a rotatable range when a rotatable range is given in the form of a rotation parameter (rotatable angle with respect to three axes of the local coordinate system of each joint). It is.
FIG. 14 is a flowchart for explaining a process of correcting within a rotatable range when a rotatable range is given in the form of a rotation matrix element;
FIG. 15 is a diagram for explaining a method for obtaining rotation information from a movement amount;
FIG. 16 is a diagram illustrating an example of a hardware configuration capable of realizing the present embodiment.
FIGS. 17A, 17B, and 17C are diagrams illustrating examples of various types of systems to which the present embodiment is applied.
[Explanation of symbols]
100 processor
110 Game processor
112 Movement / motion calculation unit
114 Motion generation processing unit
130 Image generator
132 Geometry processing part
140 Drawing part
150 sound generator
160 Operation unit
170 Storage unit
172 Main memory
174 frame buffer
180 Information storage medium
190 Display
192 sound output section
194 Information storage device for saving
196 Communication Department

Claims (12)

A game system for generating images,
The external force applied to a given part of an object connected by joints of multiple parts that have a parent-child relationship for adjacent parts connected by joints, and internal force that acts on the parts from adjacent parts connected by joints A process for obtaining the rotation information of the joint of the part based on each part constituting the object, and a motion generation means for generating a motion of the object in which the plurality of parts are connected by the joint;
Means for arranging each part according to the generated motion and generating an image of an object in which a plurality of parts are connected by a joint;
Only including,
The motion generating means is
The joint of the part based on the component that contributes to the rotation of the joint of the part by decomposing the resultant force of the external force and the internal force into a component that contributes to the rotation of the joint of the part and a component that does not contribute to the rotation of the joint of the part The joint information is calculated sequentially for multiple parts that make up the object based on the component that does not contribute to the rotation of the joint of the part, and calculates the internal force that acts on the adjacent parent parts connected by the joint. A game system characterized in that joint calculation processing of a parent part corresponding to a child part is performed using internal force calculated in the joint calculation processing of the child part . Oite to claim 1,
The motion generating means is
A game system characterized in that, when there are no adjacent parent parts connected by a joint, the displacement of the position of the object is obtained based on a component of the resultant force of the external force and the internal force that does not contribute to the rotation of the joint of the part. In claim 1 or 2 ,
The motion generation means includes
Game system, characterized in that when a shock is applied to a given part of the object, generates a motion of the object. In any one of Claims 1 thru | or 3 ,
The motion generating means is
A game system, wherein a rotatable range is set for a given joint, and rotation information of each joint is obtained so as to be within the rotatable range. In claim 4 ,
A game system, wherein a rotatable range preset for each joint is held in a form of a rotatable angle of at least one axis of a local coordinate system of each joint. In claim 4 or 5 ,
A game system, wherein a rotatable range set in advance for each joint is held in a form of a range that can be taken by an element of a rotation matrix for each joint. A computer- readable information storage medium,
The external force applied to a given part of an object connected by joints of multiple parts that have a parent-child relationship for adjacent parts connected by joints, and internal force that acts on the parts from adjacent parts connected by joints A process for obtaining the rotation information of the joint of the part based on each part constituting the object, and a motion generation means for generating a motion of the object in which the plurality of parts are connected by the joint;
Each part are arranged in accordance with the generated motion, seen containing means in which a plurality of parts and generates an image of an object linked by joints, a program that causes a computer to a
The motion generating means is
The joint of the part based on the component that contributes to the rotation of the joint of the part by decomposing the resultant force of the external force and the internal force into a component that contributes to the rotation of the joint of the part and a component that does not contribute to the rotation of the joint of the part The joint information is calculated sequentially for multiple parts that make up the object based on the component that does not contribute to the rotation of the joint of the part, and calculates the internal force that acts on the adjacent parent parts connected by the joint. An information storage medium characterized by performing joint calculation processing of a parent part corresponding to a child part using internal force calculated in the joint calculation processing of the child part . Oite to claim 7,
The motion generating means is
When there is no adjacent parent part connected by a joint, a program for determining a displacement of an object position based on a component of the resultant force of the external force and the internal force that does not contribute to rotation of the joint of the part is included. An information storage medium. In claim 7 or 8 ,
The motion generation means includes
If the shock is applied to a given part of the object, the information storage medium characterized by including a program for generating a motion of the object. In any one of Claims 7 thru | or 9 ,
The motion generating means is
An information storage medium comprising a program for setting a rotatable range for a given joint and obtaining rotation information of each joint so as to be within the rotatable range. In claim 10 ,
An information storage medium characterized in that a rotatable range preset for each joint is held in the form of a rotatable angle of at least one axis of the local coordinate system of each joint. In claim 10 or 11 ,
An information storage medium, wherein a rotatable range set in advance for each joint is held in the form of a range that can be taken by an element of a rotation matrix for each joint.

Images