| 摘要 |
PROBLEM TO BE SOLVED: To achieve control of rotation (bending, torsion, and the like) of each bone in a skelton model by a simple procedure. SOLUTION: In a skelton model in which a master bone and a slave bone are connected via a joint, a method controls motion of the slave bone by controlling an angle range of the slave bone relative to the master bone at the joint. The method includes: an angle range border circle setting step that sets an angle range border circle defining a border of the angle range of the slave bone onto a spherical surface of a sphere centering on the joint by an axis unit vector u of a circular cone formed by a center of the sphere and the angle range border circle and a half apex angleαof the circular cone; and an angle range determining step that calculates an examination value by using the axis unit vector u, the half apex angleα, and a unit vector v representing a direction of the slave bone and, on the basis of the examination value, determines whether an angle of the slave bone is within the angle range or not. COPYRIGHT: (C)2012,JPO&INPIT |
