JPH0554150A - Object joining system - Google Patents
Object joining systemInfo
- Publication number
- JPH0554150A JPH0554150A JP24270791A JP24270791A JPH0554150A JP H0554150 A JPH0554150 A JP H0554150A JP 24270791 A JP24270791 A JP 24270791A JP 24270791 A JP24270791 A JP 24270791A JP H0554150 A JPH0554150 A JP H0554150A
- Authority
- JP
- Japan
- Prior art keywords
- objects
- rectangular parallelepiped
- virtual
- joining
- dimensional space
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Image Generation (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、計算機内に作り出した
仮想的な３次元空間にある物体を互いに接合するため
の、物体接合方式に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object joining method for joining objects in a virtual three-dimensional space created in a computer to each other.
【０００２】[0002]
【従来の技術】従来、計算機で作り出した仮想的な３次
元空間内に存在する物体を接合する際には、直接物体同
士の干渉チェックを行っている。具体的には、物体の表
面を三角形や四角形などの単純な多数の多角形に分割し
ておき、分割されたすべての多角形同士の干渉チェック
を行うことで対処している［参考文献：コンピュータデ
ィスプレイによる形状処理工学ＩＩＩ、日刊工業新聞
社、１９８８］。2. Description of the Related Art Conventionally, when joining objects existing in a virtual three-dimensional space created by a computer, the interference between the objects is directly checked. Specifically, it is dealt with by dividing the surface of the object into a large number of simple polygons such as triangles and quadrangles, and checking the interference between all the divided polygons [Reference: Computer Shape processing engineering by display III, Nikkan Kogyo Shimbun, 1988].
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、直接物
体同士の干渉チェックを行う従来方式では、物体数の増
加に伴って処理コストが爆発的に増大する。特に、物体
が曲面を含む場合には、各曲面を非常に多数の小さな多
角形に分割する必要があるため、処理コストの増大が顕
著となり、実時間での物体の接合判定を行うことは困難
である。However, in the conventional method of directly checking the interference between objects, the processing cost explosively increases as the number of objects increases. In particular, when an object includes a curved surface, it is necessary to divide each curved surface into a large number of small polygons, which significantly increases the processing cost and makes it difficult to make a joint determination of objects in real time. Is.
【０００４】これに対して本発明は、物体を包含する直
方体を仮定し、直方体の頂点の位置で干渉判定を行うこ
とにより、複雑な物体同士を実時間で接合する物体接合
方式を提示することを目的とする。On the other hand, the present invention proposes an object joining method for joining complex objects in real time by assuming a rectangular parallelepiped containing objects and performing interference determination at the positions of the vertices of the rectangular parallelepiped. With the goal.
【０００５】[0005]
【課題を解決するための手段】本発明の物体接合方式
は、仮想的な３次元空間にある２つの物体を接合する方
式において、物体を包含する直方体を各々生成して、一
方の直方体の頂点の少なくともひとつが、他方の直方体
の内部に存在するとき、２つの物体が接合されたと判定
することを特徴とする。According to the object joining method of the present invention, in the method of joining two objects in a virtual three-dimensional space, a rectangular parallelepiped including the objects is generated and the vertex of one rectangular parallelepiped is generated. When at least one of the two exists inside the other rectangular parallelepiped, it is determined that the two objects are joined.
【０００６】[0006]
【作用】図１に示すように、計算機の作り出した仮想的
な３次元空間にある２つの物体を接合する場合を考え
る。図１（ａ）では、物体１および物体２が離れた位置
に存在しており、物体１を外包する直方体３と物体２を
外包する直方体４も接合されていない状態を示してい
る。ここで、図１（ｂ）に示すように、仮想的な物体を
把持するたの装置を利用して物体２を掴んで物体１と干
渉する位置まで移動して離す。すると、外包直方体４の
頂点のひとつである頂点５が外包直方体３の内部に位置
するために、物体１と物体２は接合されたことになる。
この状態で物体１を動かすと、図１（ｃ）に示すよう
に、物体２も動くことにより、物体１と物体２が接合さ
れていることが確かめられる。As shown in FIG. 1, consider a case where two objects in a virtual three-dimensional space created by a computer are joined. FIG. 1A shows a state in which the object 1 and the object 2 exist at positions separated from each other, and the rectangular parallelepiped 3 enclosing the object 1 and the rectangular parallelepiped 4 enclosing the object 2 are not joined. Here, as shown in FIG. 1B, an object 2 is grasped by using a device for grasping a virtual object, and the object 2 is moved to a position where it interferes with the object 1 and released. Then, since the vertex 5 which is one of the vertices of the outer envelope rectangular parallelepiped 4 is located inside the outer envelope rectangular parallelepiped 3, the objects 1 and 2 are joined.
When the object 1 is moved in this state, the object 2 is also moved as shown in FIG. 1C, and thus it is confirmed that the object 1 and the object 2 are joined.
【０００７】[0007]
【実施例】本発明の物体接合方式の一実施例を図２を用
いて説明する。EXAMPLE An example of the object joining method of the present invention will be described with reference to FIG.
【０００８】まず、ステップ１０２で物体を外包する直
方体を生成する。例えば、物体に固有な座標系におい
て、ｘｙｚ各軸に垂直な面を構成面とする外包直方体を
生成する場合には、物体を構成する面の頂点のｘｙｚ各
成分の最大値および最小値を、外包直方体を構成する面
の位置、すなわち構成面とｘｙｚ各軸との交点の座標値
となるようにすればよい。外包直方体の生成は、物体の
形状に変化がなければ再度行う必要はない。この判定を
ステップ１０１で行う。First, in step 102, a rectangular parallelepiped that encloses an object is generated. For example, in the coordinate system peculiar to an object, in the case of generating an envelope rectangular parallelepiped having a surface perpendicular to each xyz axis as a constituent surface, the maximum value and the minimum value of each xyz component of the vertex of the surface forming the object are expressed as It suffices to set the position of the surface forming the outer envelope rectangular parallelepiped, that is, the coordinate value of the intersection of the constituent surface and each xyz axis. Generation of the outer envelope rectangular parallelepiped does not need to be performed again unless the shape of the object changes. This determination is made in step 101.
【０００９】次に、ステップ１０４で接合判定に用いる
頂点を外包直方体の６つの頂点の中からひとつを選択し
た後、ステップ１０５で一方の外包直方体の頂点が他方
の外包直方体の内部に存在するか否かを判定する。例え
ば、選択された頂点の座標が（Ｘp ，Ｙp ，Ｚp ）、直
方体の各面がｘｙｚ各軸と垂直で、各軸との交点がＸma
x ，Ｘmin ，Ｙmax ，Ｙmin ，Ｚmax ，Ｚmin である場
合には、次のすべての条件を満たすとき、当該頂点が外
包直方体の内部に存在することになる。 Ｘmin ＜Ｘp ＜Ｘmax Ｙmin ＜Ｙp ＜Ｙmax Ｚmin ＜Ｚp ＜ＺmaxNext, in step 104, one vertex is selected from the six vertices of the outer envelope rectangular parallelepiped to be used for the joining determination, and in step 105, whether the vertex of one outer envelope rectangular parallelepiped exists inside the other outer envelope rectangular parallelepiped. Determine whether or not. For example, the coordinates of the selected vertex are (Xp, Yp, Zp), each surface of the rectangular parallelepiped is perpendicular to the xyz axes, and the intersection with each axis is Xma.
In the case of x, Xmin, Ymax, Ymin, Zmax, Zmin, the vertices are present inside the outer rectangular parallelepiped if all the following conditions are satisfied. Xmin <Xp <Xmax Ymin <Yp <Ymax Zmin <Zp <Zmax
【００１０】存在する場合には、ステップ１０６で接合
フラグをＯＮにして処理を終了する。存在しない場合に
は、ステップ１０３において、まだ判定対象となってい
ない頂点があるか否かを調べて、ある場合には、ステッ
プ１０４以降の処理を繰り返す。ない場合には、ステッ
プ１０７で接合フラグをＯＦＦにして処理を終了する。
ステップ１０３、ステップ１０４、ステップ１０５のル
ープは、最悪の場合、２つの直方体の各頂点（計１２
コ）に対して実行される。If it exists, the joining flag is turned on in step 106, and the process is terminated. If it does not exist, it is checked in step 103 whether or not there is a vertex that is not yet a determination target, and if it exists, the processing of step 104 and subsequent steps is repeated. If not, the joining flag is turned off in step 107, and the process ends.
In the worst case, the loop of step 103, step 104, and step 105 includes two vertices of a rectangular parallelepiped (total of 12 vertices).
) Is executed.
【００１１】[0011]
【発明の効果】以上に説明したように本発明を適用する
ならば、計算機内に作り出した仮想的な３次元空間にあ
る２つの物体の接合判定を、対象物体の外包直方体同士
の簡単な干渉判定で行うから、実時間での物体接合を実
現できる。As described above, if the present invention is applied, it is possible to determine the joining of two objects in a virtual three-dimensional space created in a computer by simple interference between the outer rectangular parallelepipeds of the target object. Since the judgment is performed, real-time object joining can be realized.
【００１２】この利点は、特に仮想的な作業空間で３次
元物体の組立作業を行うような場合には、極めて大きい
ものであるといえる。It can be said that this advantage is extremely great particularly in the case of assembling a three-dimensional object in a virtual work space.
【図１】本発明の作用を説明するための図。FIG. 1 is a diagram for explaining the operation of the present invention.
【図２】本発明の物体接合方式の一実施例における実行
フローチャート。FIG. 2 is an execution flowchart in one embodiment of the object joining method of the present invention.
【符号の説明】 １，２ 物体 ３，４ 外包直方体 ５ 頂点[Explanation of symbols] 1, 2 object 3, 4 outer rectangular parallelepiped 5 vertex
Claims (1)
接合する方式において、物体を包含する直方体を各々生
成して、一方の直方体の頂点の少なくともひとつが、他
方の直方体の内部に存在するとき、２つの物体が接合さ
れたと判定することを特徴とする物体接合方式。1. In a method of joining two objects in a virtual three-dimensional space, each of the rectangular parallelepipeds including the objects is generated, and at least one of the vertices of one rectangular parallelepiped exists inside the other rectangular parallelepiped. An object joining method, which determines that two objects have been joined when performing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24270791A JPH0554150A (en) | 1991-08-27 | 1991-08-27 | Object joining system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24270791A JPH0554150A (en) | 1991-08-27 | 1991-08-27 | Object joining system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0554150A true JPH0554150A (en) | 1993-03-05 |
Family
ID=17093054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP24270791A Withdrawn JPH0554150A (en) | 1991-08-27 | 1991-08-27 | Object joining system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0554150A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7461571B2 (en) | 2003-07-31 | 2008-12-09 | Jtekt Corporation | Vehicle steering apparatus |
| JP2013190849A (en) * | 2012-03-12 | 2013-09-26 | Toshiba Corp | Object retrieval device and method thereof |
-
1991
- 1991-08-27 JP JP24270791A patent/JPH0554150A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7461571B2 (en) | 2003-07-31 | 2008-12-09 | Jtekt Corporation | Vehicle steering apparatus |
| JP2013190849A (en) * | 2012-03-12 | 2013-09-26 | Toshiba Corp | Object retrieval device and method thereof |
| US9262717B2 (en) | 2012-03-12 | 2016-02-16 | Kabushiki Kaisha Toshiba | Apparatus and a method for retrieving an object |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 19981112 |