CN100530244C - Randomly topologically structured virtual role driving method based on skeleton - Google Patents

Abstract

The invention relates to a method for driving any topology virtual angle base on skeleton, which comprises: (1), classifying the information relative to the virtual angle into three kinds; (2), defining the disk storage format of said information; (3), based on real demand, fixing the virtual angle; (4), loading skeleton system; (5), loading skin pattern information; when loading, based on the name of each module in the skin pattern, building the relationship projected to the skeleton; (6), loading motion data to judge if the dimensions of freedom degree and the dimensions of skeleton system are same; (7), extracting the altitude at one time from the motion data; (8), calculating positive motion technique, to calculating the transform matrix of each skeleton local coordinate system relative to the globe coordinate system; (9), using the transform matrix between the skeleton local coordinate system and the globe coordinate system in the step (8) to calculate the coordinate at the top of skin; (10), romancing.

Description

A kind of driving method of the randomly topologically structured virtual role based on bone

Technical field

The present invention relates to a kind of driving method of virtual role, especially, relate to a kind of driving method of the randomly topologically structured virtual role based on bone.

Background technology

The generation of virtual role animation is a hot issue, and it is widely used in the fields such as virtual reality and recreation.The generation method of three-dimensional role animation has two kinds usually: a kind of is the summit animation, and a kind of is skeleton cartoon.The summit animation method is directly done distortion on the virtual role model based, promptly directly change the position of virtual role skin summit in each frame and reach animation effect.This method is intuitively simple, but if to need to carry out in certain bulk deformation or the model summit of moving very for a long time to object, it is quite time-consuming and loaded down with trivial details that this method just seems.

Compare with the summit animation, in recent years, skeleton cartoon is more popular, and skeleton cartoon is called the joint animation again.This animation producing method has defined skeleton and skin respectively, skeleton is formed according to specific topological relation connection by a series of bones, " skin " that wraps up these bones then is a summit net, and the position on each summit is subjected to the influence of one or more skeleton motions and changes.Therefore, skeleton cartoon generation method is at first moved by driving skeleton, and the motion that is defined as the summit of skin then generates in the mode of mathematical formulae, at last by playing up the formation animation frame by frame.Convenience in order to the following describes at first is described skeletal system.The topological structure of skeletal system can be regarded the open kinematic chain that is linked to each other in turn by the joint by a series of chain bars as, in skeletal system, has defined mutual relationship between length, bone and the bone of bone number, each bone of virtual role etc.In conjunction with Fig. 1, the basic composition of skeletal system is described.In the skeletal system of a virtual role, skeletal system is done as giving a definition.

1) coordinate system Fi who is connected with it of definition on each bone, this coordinate system is called the local coordinate system of this bone.Automatically form the joint when two bones connect, the annexation between bone can not constitute ring.

2) exist and only exist a joint to be called root node 1, for two bones 3 that link to each other with joint 2 and 4, be called father's bone in joint 2 from the near bone 3 of root node, another bone 4 is called the sub-bone in joint 2.For two joints 6 that link to each other with bone 5 and 7, be called the father joint of bone 5 from the near joint 6 of root node, be called the sub-joint of bone 5 from root node joint 7 far away.Under the local coordinate system of bone 5, sub-joint 7 is designated as { Xi, Yi, Zi} to the translation in father joint 6.

3) any one joint (bone) has a father joint (father's bone) at most, and any one joint (bone) can have a plurality of or not have sub-joint (sub-bone).

4) root node has also defined its translation with respect to world coordinate system except defining its rotation with respect to world coordinate system.

Because the joint forms when being two bones connections automatically, therefore, as long as preserved the information of bone and the annexation between bone, has just contained the definition to the joint.In actual applications,, need empty bone of definition, be called " root bone " for the unification on representing.This bone does not have length, can be considered a point, and its function is identical with root node with meaning.

At the animation producing method that utilizes based on bone, when realizing that visual human's animation generates, people define visual human's skeleton template of a standard usually, and visual human's skeleton template is fixing visual human's skeletal system.

In the prior art, the skeletal system of virtual role is fixed, promptly a virtual role has fixing skeletal system in different application scenarios, though the mode of utilizing fixing skeletal system to realize that animation generates has been simplified the driving process of virtual role, significant limitation is arranged.

At first, under different situations, may be different to the requirement of visual human's skeletal system.Bone with visual human's palm part is an example, when observing visual human's palm from place far away, only need just can replace whole palm with a bone; And if desired during performance " taking " thing This move, then need 19 bones.Therefore, to a virtual role, if only can not satisfy all situations with a fixing skeletal system.

Secondly, in fixing template method, owing to the topological relation between each bone in the skeletal system is fixed, so the fixed form method can not drive the virtual role of other type, as animal etc.

In addition, in the fixed form method, a virtual role has been preserved skeletal system and the skin information of oneself usually, and each role can have separate models like this.Yet in the large-scale virtual environment, as the rehearsal of army, skeletal system or dermatoglyph information are normally identical, will cause the redundancy of information like this, consume a large amount of memory headrooms.

At last, the storage of virtual role in disk lacks unified, perfect form.Some current storage formats can not satisfy the memory requirement to randomly topologically structured skeletal system, the coexistence of many virtual roles.

Summary of the invention

The driving method that the purpose of this invention is to provide a kind of randomly topologically structured virtual role based on bone is realized the driving to virtual role.

To achieve these goals, the invention provides a kind of driving method of the randomly topologically structured virtual role based on bone, comprising:

1) obtain the relevant information of virtual role, the relevant information of described virtual role is divided into skeletal system information, dermatoglyph information and exercise data;

2) the disk storage form of defining virtual role relevant information, disk file is only preserved once identical skeletal system, dermatoglyph information, exercise data, and skeletal system, dermatoglyph information and exercise data are applicable to the randomly topologically structured virtual role and the virtual role of arbitrary number;

3) according to the actual requirements, determine concrete virtual role;

4), load corresponding skeletal system according to virtual role;

5) according to virtual role, load dermatoglyph information, during loading, be established to the mapping relations of bone in the skeletal system according to the title of each module in the dermatoglyph;

6) load exercise data, before exercise data loads, judge whether the dimension of degree of freedom in the exercise data is identical with dimension in the skeletal system, if difference then exercise data can't drive skeletal system needs again selected exercise data load or withdraw from the process that virtual role drives;

7) from exercise data, extract the attitude in a certain moment, specify attitude constantly, then obtain specifying attitude constantly by the attitude of adjacent moment being done interpolation if in exercise data, can't find;

8) direct kinematics calculates, and calculates each bone local coordinate system with respect to the transformation matrix under the global coordinate system;

9) utilize bone local coordinate system that step 8) obtains with respect to the transformation matrix under the global coordinate system, recomputate the skin apex coordinate;

10) play up, draw virtual role according to skin apex coordinate that recomputates and tri patch tabulation that step 9) obtains.

In the technique scheme, in described step 2) in, a file disk storage is made up of file header, skeletal system, dermatoglyph message unit, virtual role message unit; In a skeletal system, skeletal system is made up of skeletal system title and bone tabulation, the information that the information that includes each bone of skeletal system in bone tabulation, bone need be preserved has: the call number in bone title, bone call number, father joint, static conversion matrix, bone mass, center-of-mass coordinate and range of motion; A dermatoglyph message unit is made up of vertex list, tri patch tabulation, texture coordinate tabulation, normal vector tabulation, location information tabulation, in the location information tabulation wherein a plurality of location information unit is arranged, a location information unit comprises title, vertex index tabulation, weighing factor tabulation; A virtual role unit is made up of virtual role essential information, skeletal system index, dermatoglyph index and exercise data; Each frame attitude in the exercise data is made up of with respect to the rotation of his father's bone local coordinate system the moment of this frame, displacement and each bone local coordinate system of root node.

In the technique scheme, the skeletal system of described virtual role, dermatoglyph information and exercise data adopt shared mode on memory organization, a kind of skeletal system or dermatoglyph information can be used for different virtual roles, and a virtual role also can adopt different skeletal systems or dermatoglyph information in different occasions.

In the technique scheme, in described step 4), the specific implementation of loading skeletal system comprises:

The topological structure of 4-1, the skeletal system that loaded is a multiway tree, and multiway tree is done depth-first traversal, rearranges the order between bone;

The bone local coordinate system is with respect to the transformation matrix of global coordinate system under 4-2, the calculating initial attitude.

In the technique scheme, in described step 8), direct kinematics calculates and comprises:

8-1, each bone local coordinate system under the attitude in a certain moment is converted to transformation matrix with respect to the rotation of father's bone local coordinate system;

8-2, according to the static conversion matrix that is comprised in resulting transformation matrix of step 8-1 and the file disk storage, calculate the bone local coordinate system with respect to the transformation matrix under the global coordinate system.

In the technique scheme, in described step 9), the computing formula of described skin apex coordinate is: $p^{\′}=T_j^W\·{\left({\mathrm{}}^0{T}_j^W\right)}^{-1}\·p,$ Wherein, p is the coordinate on a summit on the skeleton skin, and p ' is the new coordinate of skin summit under the skeleton motion situation, ⁰T _j ^WFor bone local coordinate system under the resulting initial attitude of step 4-2 with respect to the transformation matrix of global coordinate system, T _j ^WFor the resulting bone local coordinate system of step 8-2 with respect to the transformation matrix under the global coordinate system.

In step 4-1, described bone comes the foremost for the root bone in proper order, and any one bone all comes before its all sub-bone.

The invention has the advantages that:

1, the inventive method is done logical partitioning to virtual role according to skeletal system, dermatoglyph information and exercise data, and storage has realized driving randomly topologically structured, the arbitrary number virtual role respectively.

2, the inventive method adopts the mechanism of shared data structure, reduces the space hold in disk and internal memory.

3, the inventive method adopts hypercomplex number to represent rotation matrix, has improved counting yield, has saved storage space.

4, the inventive method adopts non-recursive mode to calculate direct kinematics, improves the counting yield when driving.

5, the inventive method adopts the hypercomplex number interpolation can obtain the attitude of any time in the motion fragment, thereby realizes the driving of arbitrary speed.

Description of drawings

Fig. 1 is the synoptic diagram of a simple skeletal system;

Fig. 2 is in the methods of the invention to the logical partitioning of virtual role;

Fig. 3 is the organized formats of disk file in the inventive method;

Fig. 4 is the organizational form of virtual role in internal memory in the inventive method;

Fig. 5 is the process flow diagram of the inventive method.

The drawing explanation:

1 root node, 2 joints, 3 bones, 4 bones, 5 bones

7 joints, 6 joints

Embodiment

With embodiment the present invention is elaborated with reference to the accompanying drawings.

The driving method of the randomly topologically structured virtual role based on bone of the present invention may further comprise the steps:

Step 10, obtain the relevant information of virtual role.Virtual role as shown in Figure 2, is respectively from being divided into three parts in logic: skeletal system, dermatoglyph information and exercise data.Skeletal system is a kind of static information, it has determined the basic characteristics such as shape, size of virtual role, give different exercise datas to skeletal system and can drive the different athletic posture of bone realization, and the athletic meeting of bone changes dermatoglyph information, skeletal system, dermatoglyph information, exercise data is combined can realize driving to virtual role.Realize the driving of virtual role, the relevant information of above-mentioned virtual role at first will be arranged.These information can obtain by associated documents are done format conversion.

The disk storage form of step 20, defining virtual role relevant information.Based on the mode of in the prior art virtual role relevant information having been taked separate, stored, identical information among the different virtual role is stored repeatedly, the shortcoming of waste storage space, in the inventive method the storage format of virtual role relevant information on disk done new definition, be about to virtual role and be divided into skeletal system, dermatoglyph information and exercise data.Identical skeletal system, dermatoglyph information, exercise data are only preserved once, and skeletal system or skin information are applicable to the randomly topologically structured virtual role and the virtual role of arbitrary number.As shown in Figure 3, for being kept at the organized formats of the file on the disk, a file is made up of a file header, a plurality of skeletal system, a plurality of dermatoglyph message unit, a plurality of virtual role message unit.A plurality of concrete root of number described herein is border situation about using and setting factually.In a skeletal system, skeletal system is made up of skeletal system title and bone tabulation, includes the information of each bone of skeletal system in the bone tabulation.The information that bone need be preserved has: the call number in bone title, bone call number, father joint, static conversion matrix, bone mass, center-of-mass coordinate and range of motion.A dermatoglyph message unit is made up of vertex list, tri patch tabulation, texture coordinate tabulation, normal vector tabulation, location information tabulation, in the location information tabulation wherein a plurality of location information unit is arranged, a location information unit is made up of title, vertex index tabulation, weighing factor tabulation.A virtual role unit is made up of virtual role essential information, skeletal system index, dermatoglyph index and exercise data; Each frame attitude in the exercise data is made up of with respect to the rotation of his father's bone local coordinate system the moment of this frame, displacement and each bone local coordinate system of root node.In exercise data, rotation is represented with unit quaternion.

Step 30, determine concrete virtual role.In the storage file of virtual role relevant information, store multiple skeletal system, dermatoglyph information and exercise data, for a concrete application scenario, only need select wherein skeletal system, part dermatoglyph information and componental movement data for use, therefore before virtual role is done driving, to determine concrete virtual role according to the application scenario of virtual role, in subsequent operation, determine choosing of skeletal system, dermatoglyph information, exercise data with convenient.In the present invention, the skeletal system of virtual role, dermatoglyph information and exercise data adopt shared mode on memory organization, be that a kind of skeletal system can be used for different virtual roles, and a virtual role also can adopt different skeletal systems in different occasions.Like this too for dermatoglyph information and exercise data.This memory organization mode has been saved the spending of memory headroom effectively, is fit to the needs that many virtual roles drive in the large-scale virtual environment.As shown in Figure 4, be the organizational form of virtual role in internal memory, a virtual role is by its skeletal system of pointed, dermatoglyph and exercise data.Skeletal system or dermatoglyph information can be simultaneously shared by a plurality of virtual roles.For example, virtual role 2 is by pointed skeletal system 1, integumentary system 1 and motion fragment 2, and above-mentioned skeletal system, integumentary system and motion fragment combination can be realized driving to virtual role 2.And skeletal system 1 can be simultaneously shared by virtual role 1 and virtual role 2.Can also see that from Fig. 4 virtual role can also include only skeletal system and exercise data, not contain dermatoglyph information.At this moment, the driving to virtual role just is the driving to skeletal system.

Step 40, loading skeletal system.Choose skeletal system according to the determined virtual role of step 30 from disk file, load this skeletal system, the topological structure of selected skeletal system is a multiway tree, and this multiway tree is done following processing.

Step 41, multiway tree is done depth-first traversal, rearrange the order between bone, after the bone rearrangement, the bone of establishing after the ordering is L1 in proper order, L2, and L3 ... Ln, then the bone after the ordering satisfies following two conditions:

(1) L1 is the root bone;

(2) (father's bone of 1＜i≤n) is Lj, then j＜i if Li

The bone local coordinate system is with respect to the transformation matrix of global coordinate system under step 42, the calculating initial attitude ⁰T _j ^W(upper left corner coordinate representation original state) be not if a bone has father's bone, then ${\mathrm{}}^0{T}_j^W=T_j^P\·M_j,$ T wherein _j ^PBe the static conversion matrix of the relative father's bone of the local coordinate system local coordinate system of bone, this static conversion matrix can directly obtain from disk file; If a bone has father's bone, then ${\mathrm{}}^0{T}_j^W=T_j^P\·M_j\·{\mathrm{}}^0{T}_i^W,$ Wherein, i is the sequence number in the father joint of bone j.Owing to by multiway tree is done depth-first traversal, rearranged the bone order in the step 41, therefore calculated ⁰T _j ^WBefore, the homogeneous matrix of his father's bone ⁰T _i ^WUpgraded, and only needed one by one each bone to be calculated in order to get final product.Under initial attitude, M _jBe unit matrix.

Step 50, loading dermatoglyph information.From disk file, choose dermatoglyph information and loading according to the determined virtual role of step 30, in loading process, be established to the mapping relations of bone in the skeletal system according to the title of each module in the dermatoglyph by demand.

Step 60, loading exercise data.From disk file, choose exercise data and loading on demand, when loading exercise data, judge whether the dimension of degree of freedom in the exercise data is identical with dimension in the skeletal system, if difference then can't drive this skeletal system, be that exercise data loads failure, need again selected exercise data to load or withdraw from the process that virtual role drives.

Step 70, from exercise data, obtain the attitude of given time t.Attitude is the one group of vector that is used for portraying joint angles a certain moment, with { p, q ₁, q ₂..., q _nExpression.Wherein, p represents the translation of root bone in world coordinate system, q _iExpression is to bone L _iLocal coordinate system with respect to the rotation of his father's bone Lj local coordinate system, represent with hypercomplex number.In some cases, may not specify the attitude of t constantly in the exercise data, follow these steps to this moment ask for and specify attitude information constantly.

Step 71, find and specify constantly two frame attitude pose1, the pose2 of immediate time of t, its corresponding t1, t2 of constantly being respectively.Pose1, pose2 specifically are expressed as follows:

$\mathrm{pose}1=\{{\mathrm{<figure-callout\; id="1"\; label="p"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">p</figure-callout>}}^1,{\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_1^1,{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_2^1,\&CenterDot;\&CenterDot;\&CenterDot;q_k^1\},$ $\mathrm{pose}2=\{{\mathrm{<figure-callout\; id="2"\; label="p"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">p</figure-callout>}}^2,{\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_1^2,{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_2^2,\&CenterDot;\&CenterDot;\&CenterDot;q_k^2\}$

Step 72, by formula pose1, pose2 are carried out interpolation and obtain the constantly corresponding attitude of t, interpolation formula is as follows:

pose＝{p，q ₁，q ₂，…q _k}：

$\left\{\begin{array}{c}p=(1-t)\&CenterDot;{\mathrm{<figure-callout\; id="1"\; label="p"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">p</figure-callout>}}^1+t\&CenterDot;p^2\\ q_j=\mathrm{Slerp}({\mathrm{<figure-callout\; id="1"\; label="q\; j"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_j^{},{\mathrm{<figure-callout\; id="2"\; label="q\; j"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_j^{},t)\end{array}\right.$

Wherein:

$\mathrm{Slerp}({\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_1,{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_2,t)=\frac{{\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_1\sin \left((1-t)\mathrm{\&Omega;}\right)+{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_2\sin \left(\mathrm{t\&Omega;}\right)}{\sin \left(\mathrm{\&Omega;}\right)},\cos \left(\mathrm{\&Omega;}\right)={\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_1\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="C20051007728700121.png"\; state="\{\{state\}\}">q</figure-callout>}}_2$

Step 80, direct kinematics calculate.Calculate each bone local coordinate system with respect to the transformation matrix T under the global coordinate system _j ^WTransformation matrix T _j ^WTo ask for step as follows.

Step 81, with each bone local coordinate system under the current attitude with respect to the rotation q of father's bone local coordinate system _jBe converted to transform matrix M _j, q _jIt is a unit quaternion.This transfer process is ripe prior art, and those of ordinary skill is consulted related data can realize this conversion.

Step 82, judge whether a bone has father's bone, if this bone does not have father's bone, then $T_j^W=T_j^P\&CenterDot;M_j.$

If step 83 bone has father's bone, then $T_j^W=T_j^P\&CenterDot;M_j\&CenterDot;T_i^W,$ Wherein i is the sequence number in the father joint of bone j.

Owing to by multiway tree is done depth-first traversal, rearranged the bone order in the step 41, therefore calculated T _j ^WBefore, the homogeneous matrix T of his father's bone _i ^WUpgraded, and therefore only needed one by one each bone to be calculated in order to get final product.

Step 90, recomputate the skin apex coordinate.Skeletal system is under exercise data drives, and the skin apex coordinate that depends on bone can produce corresponding variation, when this step will realize moment t exactly, and the calculating of all skin apex coordinates of virtual role.The bone that with the call number is j is an example, establishes the coordinate of p for a summit on this skeleton skin, and then the rotational coordinates of this point under new attitude provided by following formula: $p^{\&prime;}=T_j^W\&CenterDot;{\left({\mathrm{}}^0{T}_j^W\right)}^{-1}\&CenterDot;p.$ With the skin summit under initial attitude under the coordinate in the global coordinate system and the initial attitude bone local coordinate system do dot product with respect to the inverse matrix of the transformation matrix of global coordinate system, obtain the coordinate of skin summit in the bone local coordinate system, then this coordinate and bone local coordinate system are done dot product with respect to the transformation matrix under the global coordinate system, obtain the world coordinates of skin summit under new attitude.

Step 100, play up.Draw virtual role according to the tri patch tabulation of being preserved in skin apex coordinate that recomputates and the disk file.

Claims (7)

1, a kind of driving method of the randomly topologically structured virtual role based on bone comprises:

1) obtain the relevant information of virtual role, the relevant information of described virtual role is divided into skeletal system information, dermatoglyph information and exercise data;

2) the disk storage form of defining virtual role relevant information, disk file is only preserved once identical skeletal system, dermatoglyph information, exercise data, and skeletal system, dermatoglyph information and exercise data are applicable to the randomly topologically structured virtual role and the virtual role of arbitrary number;

3) according to the actual requirements, determine concrete virtual role;

4), load corresponding skeletal system according to virtual role;

5) according to virtual role, load dermatoglyph information, during loading, be established to the mapping relations of bone in the skeletal system according to the title of each module in the dermatoglyph;

6) load exercise data, before exercise data loads, judge whether the dimension of degree of freedom in the exercise data is identical with dimension in the skeletal system, if difference then exercise data can't drive skeletal system needs again selected exercise data load or withdraw from the process that virtual role drives;

7) from exercise data, extract the attitude in a certain moment, specify attitude constantly, then obtain specifying attitude constantly by the attitude of adjacent moment being done interpolation if in exercise data, can't find;

8) direct kinematics calculates, and calculates each bone local coordinate system with respect to the transformation matrix under the global coordinate system;

9) utilize bone local coordinate system that step 8) obtains with respect to the transformation matrix under the global coordinate system, recomputate the skin apex coordinate;

10) play up, virtual role is drawn in skin apex coordinate that recomputates that obtains according to step 9) and tri patch tabulation, and described tri patch tabulation is included in the dermatoglyph information that step 5) loads.

2, the driving method of the randomly topologically structured virtual role based on bone according to claim 1, it is characterized in that, in described step 2) in, a file disk storage is made up of file header, skeletal system, dermatoglyph message unit, virtual role message unit; In a skeletal system, skeletal system is made up of skeletal system title and bone tabulation, the information that the information that includes each bone of skeletal system in bone tabulation, bone need be preserved has: the call number in bone title, bone call number, father joint, static conversion matrix, bone mass, center-of-mass coordinate and range of motion; A dermatoglyph message unit is made up of vertex list, tri patch tabulation, texture coordinate tabulation, normal vector tabulation, location information tabulation, in the location information tabulation wherein a plurality of location information unit is arranged, a location information unit comprises title, vertex index tabulation, weighing factor tabulation; A virtual role unit is made up of virtual role essential information, skeletal system index, dermatoglyph index and exercise data; Each frame attitude in the exercise data is made up of with respect to the rotation of his father's bone local coordinate system the moment of this frame, displacement and each bone local coordinate system of root node, and wherein said rotation is represented with hypercomplex number.

3, the driving method of the randomly topologically structured virtual role based on bone according to claim 1, it is characterized in that, the skeletal system of described virtual role, dermatoglyph information and exercise data adopt shared mode on memory organization, a kind of skeletal system or dermatoglyph information can be used for different virtual roles, and a virtual role also can adopt different skeletal systems or dermatoglyph information in different occasions.

4, the driving method of the randomly topologically structured virtual role based on bone according to claim 1 is characterized in that, in described step 4), the specific implementation of loading skeletal system comprises:

The topological structure of 4-1, the skeletal system that loaded is a multiway tree, and multiway tree is done depth-first traversal, rearranges the order between bone;

The bone local coordinate system is with respect to the transformation matrix of global coordinate system under 4-2, the calculating initial attitude.

5, the driving method of the randomly topologically structured virtual role based on bone according to claim 4 is characterized in that, in described step 8), direct kinematics calculates and comprises:

8-1, each bone local coordinate system under the attitude in a certain moment is converted to transformation matrix with respect to the rotation of father's bone local coordinate system;

8-2, according to the static conversion matrix that is comprised in resulting transformation matrix of step 8-1 and the file disk storage, calculate the bone local coordinate system with respect to the transformation matrix under the global coordinate system.

6, the driving method of the randomly topologically structured virtual role based on bone according to claim 5 is characterized in that in described step 9), the computing formula of described skin apex coordinate is: $p^{\&prime;}=T_j^W\&CenterDot;{\left({}^{0}T_j^W\right)}^{-1}\&CenterDot;p,$ Wherein, p is the coordinate on a summit on the skeleton skin, and p ' is the new coordinate of skin summit under the skeleton motion situation, ⁰T _j ^WFor bone local coordinate system under the resulting initial attitude of step 4-2 with respect to the transformation matrix of global coordinate system, T _j ^WFor the resulting bone local coordinate system of step 8-2 with respect to the transformation matrix under the global coordinate system.

7, the driving method of the randomly topologically structured virtual role based on bone according to claim 4 is characterized in that in step 4-1, described bone comes the foremost for the root bone in proper order, and any one bone all comes before its all sub-bone.

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