CN114296554A - VR (virtual reality) large-space multi-virtual-target passive touch scheme - Google Patents
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Abstract
The invention discloses a multi-virtual target passive tactile scheme in VR large space, which uses two physical agents to provide tactile feedback for a plurality of virtual targets alternately, avoids the defect that the walking direction of a user needs to be reversed at a large angle by redirecting walking when only one physical agent is used for providing tactile feedback for continuous virtual objects, and comprises the following steps: s1, firstly, predefining a path, S2, designing the position and the angle of a virtual object, S3, redirecting a user to an interaction position by using a redirection walking algorithm, S4, interacting, improving the experience and the accuracy of the interaction through alignment before interaction and a touch redirection technology, and S5, determining whether a 2:1 rotation algorithm needs to be started or not according to the next virtual target position. The invention solves the problem of position error caused by unfixed coordinate mapping of the physical environment and the virtual environment due to the reorientation walking, and provides relatively accurate tactile feedback for the user in the virtual environment.
Description
Technical Field
The invention relates to the technical field of virtual reality, in particular to a scheme for passive touch of multiple virtual targets in a VR large space.
Background
The virtual reality technology is a computer simulation system which can create and experience a virtual world, a simulation environment is generated by a computer, the simulation environment is a multi-source information fusion and interactive three-dimensional dynamic view and entity behavior system simulation, a user is immersed in the environment, the immersion and the interactivity in the virtual reality are always concerned, in the past years, walking redirection and tactile redirection technologies appear successively, the former aims to expand a larger virtual space in a smaller physical space, the latter enables the complex virtual scene to provide real tactile feedback, the invention combines the features of redirection walking and tactile redirection, realizes the expansion of the virtual space, and utilizes the tactile redirection technology to realize that a physical agent provides real tactile feedback for a plurality of different objects in the virtual scene, as a roaming scheme for a virtual scene using natural walking, redirected walking can provide a high level of presence and a sense of real physical motion, and is relatively low in cost, but in order to break through the limitation of space size in the real world, redirected walking algorithms mostly change the mapping relationship between physical motion and virtual motion by rotating the virtual world, however, providing real tactile feedback for a user requires that the coordinate mapping between the virtual world and the real world is fixed, and the change of the mapping relationship will cause difficulty in providing tactile feedback for the redirected walking user, and the two requirements are usually mutually exclusive.
In order to solve the above contradictions, the related studies provide some solutions, Kohli et al describe a method that takes the user from one virtual base to another while physically returning to the same base, the cylindrical base being chosen because of its rotational invariance, avoiding angular errors; the user can approach the virtual base from any angle and still be aligned with the virtual base in a rotating manner, Jerald Thomas et al propose an alignment mode, namely, the concept of an artificial potential field is utilized, an alignment condition is proposed to ensure that the user reaches the position of the virtual proxy in the virtual space and simultaneously reaches the physical proxy in the real space, but experiments in the article are completed through a simulator and do not provide real tactile feedback for the user, and experimental results show that distance and angle errors after reaching a target point are obvious, the average error of the distance is minimum and is more than 20cm from the experimental results, and the experimental data do not show angle errors and have actual user experience.
Disclosure of Invention
The invention aims to provide a scheme for passive touch of multiple virtual targets in a VR large space, which utilizes the mode of combining redirection walking and touch redirection provided in the background technology to realize the expansion of a virtual space and also utilizes the touch redirection technology to realize that one physical agent provides real touch feedback for a plurality of different objects in a virtual scene. As a roaming scheme for a virtual scene using natural walking, redirected walking can provide a high level of presence and a sense of real physical motion, and is relatively low in cost, but in order to break through the limitation of space size in the real world, redirected walking algorithms mostly change the mapping relationship between physical motion and virtual motion by rotating the virtual world, however, providing real tactile feedback for a user requires that the coordinate mapping between the virtual world and the real world is fixed, and the change of the mapping relationship will cause difficulty in providing tactile feedback for the redirected walking user, and the two requirements are usually mutually exclusive.
In order to achieve the purpose, the invention provides the following technical scheme: a VR multi-virtual target passive haptic solution in large space, comprising the steps of:
s1, firstly, predesign a path, that is, a path of a user in a virtual environment, where the path of the user in the method is "dog-leg", and an included angle between a path AvBv between a source virtual target Av and a destination virtual target Bv and a connection ArBr from a source physical agent Ar to a destination physical agent Br is α, where the range of α is determined by a physical distance between ArBr, and a redirection algorithm only applies a curvature gain and a translation gain when the user moves toward the virtual object Bv, so that ideally, a real trajectory when the user moves straight toward the virtual object is a circular arc, and a connection ArBr between two physical agents is exactly a chord corresponding to the circular arc, and a radius corresponding to the circular arc to which the curvature gain is applied is R, where α should satisfy the following condition when the distance of ArBr is Dr: condition one
S2, designing the positions and angles of the virtual objects and the physical agents, wherein the positions of the physical agents are not limited in principle, and the orientations of the physical agents are opposite, the relative position design of two adjacent virtual targets is determined by the distance between the two physical agents and the threshold value of the translation gain, and in order to ensure the accuracy of the alignment of the virtual objects and the physical agents, the distance Dv between the adjacent virtual targets should satisfy the following inequality: condition two
DrTmin<Dv<DrTmax
The Tmin and the Tmax are respectively upper and lower threshold values of the translation gain, so that alignment can be ensured and user experience can be considered;
s3, walking the user along the virtual path to the virtual interaction area, and redirecting the user to an accurate physical interaction position by utilizing a redirection walking algorithm based on an artificial potential function;
s4, interaction phase
Alignment before interaction
When the virtual interaction area is reached, the included angle between the orientation of the user and the orientation of the virtual agent is gamma, the virtual target is oriented by in-situ rotation, the included angle gamma p between the orientation of the user in the actual space and the orientation of the physical agent is continuously acquired in the rotation process, the difference between gamma and gamma is compensated by using the rotation gain, and the alignment before the interaction is completed;
② hand position acquisition and redirection
Acquiring the relative positions of the palm, the physical target and the virtual target, and applying a tactile redirection algorithm to shift the palm of the user when the palm moves towards the virtual target, so that the palm is also contacted with the physical agent when the user touches the virtual target;
and S5, after the interaction is finished, determining whether a 2:1 rotation algorithm needs to be started to guide the user to rotate in place according to the position of the next virtual target.
Preferably, the condition one can ensure that there is enough distance to redirect the user's orientation before the user reaches the virtual target so that it can accurately reach the object proxy.
Preferably, when the user moves straight and approaches to Bv along the AvBv in the virtual space, the orientation of the user when the user is redirected to the vicinity of the target agent Br is not forward facing Br due to the application of the curvature gain, but an angle difference is additionally generated on the basis of the orientation of Br, so that in the virtual environment, the orientation of the person when the person walks to the Bv interaction area should have the same included angle with the orientation of Bv, that is, the angle of the user when the user is redirected to the virtual target is ensured to be aligned with the angle of the physical environment.
Preferably, an angle between the user and the Br orientation when the user is redirected to the physical agent Br is related to an angle α between the virtual path AvBv and the connection ArBr between the two physical agents, and the angle between the AvBv and the virtual target Bv orientation is γ, and γ needs to satisfy the following equation: condition three
Knowing α, Dr, R, the value of γ can be found; the user can design and arrange the virtual environment according to the calculated position and angle.
Preferably, the redirection walking algorithm in the scheme is a redirection algorithm based on an artificial potential field, and the influence brought by the physical boundary and the target physical agent can be considered at the same time.
Preferably, the steps 3-5 are repeated continuously to provide real passive haptic sensations for a plurality of virtual objects in succession.
Preferably, the two physical agents are used for alternately providing the passive touch sense for the plurality of virtual targets, so that the defect that the walking direction of the user needs to be reversed in a large angle by redirecting walking when only one physical agent is used for providing the touch sense for the continuous virtual object is overcome.
Preferably, the distance between the adjacent virtual targets is limited by the condition 2 to ensure the accuracy of the alignment.
Compared with the prior art, the invention has the beneficial effects that:
the method has the advantages that real tactile feedback is provided for a plurality of virtual targets in a large space, and by designing the virtual path, the position and the orientation of the virtual targets and combining tactile redirection, the position error caused by unfixed coordinate mapping of a physical environment and a virtual environment due to redirection walking in the virtual environment of the large space is effectively reduced, and relatively accurate tactile feedback is provided for users in the virtual environment.
Drawings
FIG. 1 is a flow chart of the present invention
FIG. 2 is a schematic diagram of route planning in the present invention
FIG. 3 is a schematic view of the angle design of a virtual object according to the present invention
Fig. 4 is a graph showing the results obtained by 2:1 rotation algorithm to extend user explorable angles schematic
Fig. 5 is a redirection algorithm flow diagram.
Fig. 6 is a schematic diagram of a haptic redirection process.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution:
the first embodiment is as follows:
the treatment process of the embodiment comprises the following steps:
s1, firstly, predesign a path, that is, a path of a user in a virtual environment, where the path of the user in the method is "dog-leg", and an included angle between a path AvBv between a source virtual target Av and a destination virtual target Bv and a connection ArBr from a source physical agent Ar to a destination physical agent Br is α, where the range of α is determined by a physical distance between ArBr, and a redirection algorithm only applies a curvature gain and a translation gain when the user moves toward the virtual object Bv, so that ideally, a real trajectory when the user moves straight toward the virtual object is a circular arc, and a connection ArBr between two physical agents is exactly a chord corresponding to the circular arc, and a radius corresponding to the circular arc to which the curvature gain is applied is R, where α should satisfy the following condition when the distance of ArBr is Dr: condition one
S2, designing the positions and angles of the virtual objects and the physical agents, wherein the positions of the physical agents are not limited in principle, and the orientations of the physical agents are opposite, the relative position design of two adjacent virtual targets is determined by the distance between the two physical agents and the threshold value of the translation gain, and in order to ensure the accuracy of the alignment of the virtual objects and the physical agents, the distance Dv between the adjacent virtual targets should satisfy the following inequality: condition two
DrTmin<Dv<DrTmax
The Tmin and the Tmax are respectively upper and lower threshold values of the translation gain, so that alignment can be ensured and user experience can be considered;
s3, the user walks along the virtual path toward the virtual interaction region, and the user is redirected to the accurate physical interaction location by using a redirection walking algorithm based on artificial potential function, where the algorithm flowchart can refer to fig. 5, and the following steps are steps of redirecting and walking by using an artificial potential field:
the potential energy of the user in the artificial potential field comprises potential energy generated by a physical boundary and potential energy generated by a physical agent providing a sense of touch, and the calculation steps are as follows:
calculating potential energy generated by a physical boundary, wherein the generated potential energy has the effect that a user is far away from the physical boundary, and when the user is closer to the physical boundary, the generated potential energy is larger, and the potential energy is calculated by a following calculation formula IV:
wherein, O is the set of the boundary and the obstacle, p is the current physical position of the user, | p-pob | | is the distance from the current position of the user to the boundary or the obstacle, and the potential energy generated is higher when the user is closer to the boundary.
Calculating the potential energy currently generated by the target to be aligned
The method comprises the following steps that Pcoarse is the position of a physical agent which provides touch sense at present, P is the current physical position of a user, and | P-Pcoarse | is the distance between physical targets which are required to be aligned with the current distance of the user; the potential energy generated is smaller as the user gets closer to the physical agent. In the experiment, two physical agents are alternately used as targets to be aligned, when one physical agent is used as the target to be aligned, the other object does not generate potential energy, otherwise, the direction of the user for redirection walking is influenced, and the user cannot reach an accurate interaction position.
Calculating the total potential energy of the current position
U＝Urepulsive+Uattractive；
The total potential energy is the sum of the potential energy generated by the boundary and the potential energy generated by the physical agent, the direction of the negative gradient of the potential energy function is solved, namely the direction in which the potential energy is reduced most quickly is taken as the optimal steering direction for redirecting walking, then the redirecting walking algorithm is used for gradually guiding people to the virtual interaction area for intersection, and the attention needs to be paid that when a user moves in the virtual space, only curvature gain and translation gain are applied in the redirecting algorithm, and no rotation gain is applied;
s4, interaction phase
Alignment before interaction
When a user moves to a virtual interaction area along a planned route in a virtual space, the user walks to the vicinity of a physical agent in the physical space due to reasons of route planning, virtual object position design, redirection algorithm application and the like, namely the virtual object is aligned with the physical agent position at the moment, an included angle between the orientation of the user and the orientation of the virtual agent is gamma in the virtual space, an included angle gamma p between the orientation of the user and the orientation of the physical agent in the actual space is obtained, the difference between gamma p and gamma is compensated by using a rotation gain, and the angle between the virtual object and the physical agent is also aligned;
② hand position acquisition and redirection
Acquiring an initial position H0 of a hand, a virtual target position Pv and a position Pr of a physical agent, wherein the specific redirection process comprises the following steps:
at this time, the total offset T is calculated:
T＝Pv-Pr；
as the virtual hand starts to move from the initial position H0 towards Pv, the offset T is gradually added to the virtual hand position hv, i.e.:
W＝cT；
hv＝hv+W；
the position of the physical hand Hp is Hp, c is the displacement ratio, ranging from 0 to 1, 0 when at H0, and 1 when Hp reaches the physical target Pr, where Ds＝|hp-H0|，Dp＝|hp-pr|；
And S5, after the interaction is finished, determining whether a 2:1 rotation algorithm needs to be started to guide the user to rotate in place according to the position of the next virtual target.
In this implementation, the first condition may ensure that the user has a sufficient distance to redirect the user's direction before reaching the virtual target, so that the user can accurately reach the object proxy.
In this embodiment, when the user moves straight and approaches to Bv along the AvBv in the virtual space, due to the application of the curvature gain, the direction of the user when the user is redirected to the vicinity of the target agent Br does not face Br in the forward direction, but an angle difference is additionally generated on the basis of the direction of Br, so that in the virtual environment, the direction of the user when the user walks to the Bv interaction area and the direction of Bv also have the same included angle, that is, the angle of the user when the user is redirected to the virtual target is aligned with the angle of the physical environment.
In this embodiment, when the user redirects to the physical agent Br, the included angle between the user and the Br orientation is related to the included angle α between the virtual path AvBv and the connection ArBr between the two physical agents, and the included angle between the AvBv and the virtual target Bv orientation is γ, where γ needs to satisfy the following equality:
knowing α, Dr, R, the value of γ can be found; the user can design and arrange the virtual environment according to the calculated position and angle.
In this embodiment, the redirection walking algorithm in the scheme is based on an artificial potential field redirection algorithm, which can consider the influence of a physical boundary and a target physical agent at the same time.
In this embodiment, steps 3-5 are repeated continuously to provide real passive haptic sensations for multiple virtual objects in succession.
In the embodiment, the two physical agents are used for alternately providing the passive touch for the plurality of virtual targets, so that the defect that the walking direction of a user needs to be reversed in a large angle by redirecting walking when only one physical agent is used for providing the touch for the continuous virtual object is overcome.
In this embodiment, the distance between adjacent virtual targets is limited by the second condition to ensure the accuracy of alignment.
The processing result shows that according to the scheme, the user can explore only an angle within +/-alpha max parallel to the physical agent connecting line, only the virtual route within the angle can provide more accurate redirection, and in order to expand the angle range of the programmable route, after the interaction with the current virtual target is completed, a reset algorithm 2 which refers to redirection walking is adopted: the 1 rotation algorithm, namely when the included angle between the path between the current virtual target and the next virtual target and the connecting line of the current agent and the target agent is 180 degrees +/-alpha max, the 2:1 rotation algorithm is started after the interaction with the source agent is completed, so that the accurate reorientation touch sense can be still provided, and the range of the planned route is doubled at the same time, as shown in fig. 4, namely the method is suitable for both the angles of +/-alpha max and 180 degrees +/-alpha max.
Example two:
the difference characteristic from the first embodiment is that:
the treatment process of the embodiment comprises the following steps:
s1, first, space positioning
The same-angle cameras with bad time points can capture one feature point and carry out space coordinate calculation.
S2, then linear motion capture
The spatial data stream formed by continuously capturing the feature points over a period of time is the motion track of the feature points.
S3, final angle motion capture
A large feature point composed of 3 or more feature points forms a surface motion, and an angular motion of the large feature point can be captured.
In the embodiment, the spaces are vertically stacked, and the spaces are expanded in a mode of going upstairs and downstairs.
In this embodiment, the content logic can be set to traverse from different spaces to another space without changing the actual active area.
In the embodiment, the oversized virtual space is divided into a plurality of equal parts, and when the oversized virtual space exceeds the actual activity area, the virtual space can be turned by 180 degrees while the target area is converted by the virtual scene.
To sum up: compared with the original process processing result in the second embodiment, the processing result of the invention provides real tactile feedback for a plurality of virtual targets in a large space, and through the design of the virtual path, the position and the orientation of the virtual targets and the combination of tactile redirection, the position error caused by unfixed coordinate mapping of a physical environment and a virtual environment due to redirected walking in the large-space virtual environment is effectively reduced, and relatively accurate tactile feedback is provided for users in the virtual environment.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A VR multi-virtual-target passive haptic scheme in a large space, comprising: the multi-virtual target passive haptic scheme comprises the following steps:
s1, firstly, predesign a path, that is, a path of a user in a virtual environment, where the path of the user in the method is "dog-leg", and an included angle between a path AvBv between a source virtual target Av and a destination virtual target Bv and a connection ArBr from a source physical agent Ar to a destination physical agent Br is α, where the range of α is determined by a physical distance between ArBr, and a redirection algorithm only applies a curvature gain and a translation gain when the user moves toward the virtual object Bv, so that ideally, a real trajectory when the user moves straight toward the virtual object is a circular arc, and a connection ArBr between two physical agents is exactly a chord corresponding to the circular arc, and a radius corresponding to the circular arc to which the curvature gain is applied is R, where α should satisfy the following condition when the distance of ArBr is Dr: condition one
S2, designing the positions and angles of the virtual objects and the physical agents, wherein the positions of the physical agents are not limited in principle, and the orientations of the physical agents are opposite, the relative position design of two adjacent virtual targets is determined by the distance between the two physical agents and the threshold value of the translation gain, and in order to ensure the accuracy of the alignment of the virtual objects and the physical agents, the distance Dv between the adjacent virtual targets should satisfy the following inequality: condition two
DrTmin＜Dv＜DrTmax
The Tmin and the Tmax are respectively upper and lower threshold values of the translation gain, so that alignment can be ensured and user experience can be considered;
s3, walking the user along the virtual path to the virtual interaction area, and redirecting the user to an accurate physical interaction position by utilizing a redirection walking algorithm based on an artificial potential function;
s4, interaction phase
Alignment before interaction
When the virtual interaction area is reached, the included angle between the orientation of the user and the orientation of the virtual agent is gamma, the virtual target is oriented by in-situ rotation, the included angle gamma p between the orientation of the user in the actual space and the orientation of the physical agent is continuously acquired in the rotation process, the difference between gamma and gamma is compensated by using the rotation gain, and the alignment before the interaction is completed;
② hand position acquisition and redirection
Acquiring the relative positions of the palm, the physical target and the virtual target, and applying a tactile redirection algorithm to shift the palm of the user when the palm moves towards the virtual target, so that the palm is also contacted with the physical agent when the user touches the virtual target;
and S5, after the interaction is finished, determining whether a 2:1 rotation algorithm needs to be started to guide the user to rotate in place according to the position of the next virtual target.
2. The VR large space multi-virtual target passive haptic scheme of claim 1, wherein: the first condition may ensure that the user is sufficiently far away from the virtual target to redirect the user's heading to accurately reach the object proxy.
3. The VR large space multi-virtual target passive haptic scheme of claim 1, wherein: when the user moves straight and approaches to Bv along the AvBv in the virtual space, due to the application of the curvature gain, the direction of the user when the user is redirected to the vicinity of the target agent Br does not face Br in the forward direction, but an angle difference is additionally generated on the basis of the direction of Br, so that in the virtual environment, the direction of the user when the user walks to the Bv interaction area and the direction of Bv also have the same included angle, namely, the user is ensured to be aligned with the angle of the physical environment when the user is redirected to the virtual target.
4. The VR large space multi-virtual target passive haptic scheme of claim 1, wherein: when the user is redirected to the physical agent Br, the included angle between the user and the orientation of Br is related to the included angle alpha between the virtual path AvBv and the connection ArBr between the two physical agents, the included angle between the orientation of AvBv and the orientation of the virtual target Bv is gamma, and the gamma needs to satisfy the following equation: condition three
Knowing α, Dr, R, the value of γ can be found; the user can design and arrange the virtual environment according to the calculated position and angle.
5. The VR large space multi-virtual target passive haptic scheme of claim 1, wherein: the redirection walking algorithm in the scheme adopts a redirection algorithm based on an artificial potential field, and can simultaneously consider the influence brought by a physical boundary and a target physical agent.
6. The VR large space multi-virtual target passive haptic scheme of claim 1, wherein: the repeating of steps 3-5 provides a continuous, true passive haptic sensation to the plurality of virtual objects.
7. The VR large space multi-virtual target passive haptic scheme of claim 1, wherein: the two physical agents are used for alternately providing the passive touch for the virtual targets, so that the defect that the walking direction of a user needs to be reversed in a large angle by redirecting walking when only one physical agent is used for providing the touch for the continuous virtual object is overcome.
8. The VR large space multi-virtual target passive haptic scheme of claim 1, wherein: and the distance between adjacent virtual targets is limited by the second condition to ensure the accuracy of alignment.
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