Method and system for interactive simulation of materials and models
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06T-013/00
G09B-023/28
G06T-013/20
G06F-017/50
G06T-019/00
출원번호
US-0792860
(2013-03-11)
등록번호
US-8786613
(2014-07-22)
발명자
/ 주소
Millman, Alan
출원인 / 주소
Millman, Alan
대리인 / 주소
Lesavich High-Tech Law Group, S.C.
인용정보
피인용 횟수 :
5인용 특허 :
106
초록▼
A method and system for drawing, displaying, editing animating, simulating and interacting with one or more virtual polygonal, spline, volumetric models, three-dimensional visual models or robotic models. The method and system provide flexible simulation, the ability to combine rigid and flexible si
A method and system for drawing, displaying, editing animating, simulating and interacting with one or more virtual polygonal, spline, volumetric models, three-dimensional visual models or robotic models. The method and system provide flexible simulation, the ability to combine rigid and flexible simulation on plural portions of a model, rendering of haptic forces and force-feedback to a user.
대표청구항▼
1. A method for simulating rigid, semi-rigid, and flexible components of materials and models comprising: connecting to a network device with one or more processors, a display and a plurality of hardware components including a plurality of haptic devices, head trackers, stereoscopic displays and aud
1. A method for simulating rigid, semi-rigid, and flexible components of materials and models comprising: connecting to a network device with one or more processors, a display and a plurality of hardware components including a plurality of haptic devices, head trackers, stereoscopic displays and audio speakers, connecting to each other and to the network device;defining on an application on the network device one or more individual components for each of one or more entities being simulated, wherein a three-dimensional (3D) entity includes at least four individual components combined into the 3D entity being simulated and wherein each of the one or more individual components include a plurality of individual component portions;defining on the application on the network device for each of the one or more individual components, a force transmission parameter obtained from a plurality of force transmission parameter values, a selected entity's rigid mass is greater than zero and less than its total mass, the plurality of force transmission parameter values including a first force transmission parameter value representing a fully flexible component, a second force transmission parameter value representing a fully rigid component and a plurality of other force transmission parameter values with values in-between the first force transmission parameter value and the second force transmission parameter value representing varying levels of semi-rigidity, wherein the selected entity's rigid mass is calculated according to the equation: mr=∑1nmitransi wherein mr is a rigid mass, mirepresents a mass of one of the selected entity's individual components and transiis an individual component's corresponding force transmission parameter value; combining on the application on the network device a method for simulating flexible entities with a method for simulating rigid entities into a composite simulation method, the composite simulation method including each entity being simulated comprising one or more individual components and each individual component being individually defined with a separate force transmission parameter value, allowing each of the plurality of individual component portions of the one or more individual components of the entity being simulated to include any combination of rigid, semi-rigid and flexible components, simulating either similar materials or composites of different materials or models, wherein the method for simulating flexible entities that has been combined uses a model comprising individual point-masses connected by idealized springs or dashpots, wherein the one or more individual components are represented by the point-masses, wherein in the composite simulation method, an acceleration due to rigid motion is calculated according to the equation: x¨ir=fimrtransi, wherein in the composite simulation method, an acceleration due to deformation is calculated according to the equation: x¨if=fimi(1-transi), wherein fi is a force applied to an individual component {umlaut over (x)}ir is an acceleration due to rigid motion and {umlaut over (x)}if is an acceleration due to deformation; obtaining on the application on the network device with the composite simulation method a plurality of positions, velocities and accelerations and a defined force transmission parameter value for each of the one or more individual components of each of the one or more entities entity being simulated;calculating on the application on the network device with the composite simulation method a plurality of forces and torques being applied on the one or more individual components of each of the one or more entities being simulated using the obtained positions, velocities or accelerations;calculating on the application on the network device with the composite simulation method one or more of new positions, velocities and accelerations of the one or more individual components of each of the one or more entities entity being simulated using the calculated plurality of forces and torques and the one or more defined force transmission parameters;receiving one or more selection inputs on the application on the network device with the composite simulation method from one or more haptic devices connected to the network device for virtually moving, pushing, cutting, tearing, creating holes therein, joining, melting or fusing one or more of the plurality of individual component portions of the one or more individual components of the one or more entities being simulated; anddisplaying in real-time on the application on the network device with the composite simulation method on a graphical user interface (GUI) with one or more graphical windows on the display the calculated one or more positions and any of the calculated one or more velocities or accelerations as a two-dimensional (2D) or a three dimensional (3D) graphical object view of a representation of each the one or more entities being simulated and presenting in real-time the composite simulation method's results as an output on the plurality of hardware components. 2. The method of claim 1 wherein the connecting step includes: physically and rigidly connecting and co-locating the plurality of hardware components with respect to each other and to the network device and the display on the network device at fixed and specific distances and orientations using a rigid harness; andregistering the plurality of hardware components with the application on the network device. 3. The method of claim 1 wherein the connection step includes: connecting dynamically in real-time the plurality of hardware devices with the network device and the display on the network device with the application by dynamically tracking with one or more device trackers using six or more degrees of freedoms, specific distances, orientations and temporal locations of the plurality of hardware devices; andproviding automatic and dynamic co-location and registration and re-registration of the plurality of hardware devices in real-time during a simulation session by the application on the network device. 4. The method of claim 1 wherein the defining step includes drawing, editing, animating, and interacting with one or more non-physically-based polygonal models, volumetric models, spline models, non-uniform rational basis spline (NURBS) models or subdivision surface models in a physically-based, realistic manner with haptic feedback via the application on the network device. 5. The method of claim 4 wherein the polygonal models, volumetric models, or subdivision surface models include physically-based spine, hull, volume lattice, wire, thread, hair, atomic particle, molecule, fluid, viscous material, mechanical motions, including rotations and translations of objects, as created by electrical motors, hydraulic pumps, mechanical linkages, wheels, gears or robotic models. 6. The method of claim 1 wherein the receiving step includes: receiving one or more selection inputs on the application on the network device with the composite simulation method from one or more other types of input devices that act as tools or manipulators for interacting with other physically-based models, and provide force-feedback, wherein the physically-based models include dynamic real-time behavior, including cutting into other objects, grasping other objects, curling up, unfolding and rotating, wherein the one or more other types of input devices include surgical instruments including scalpels and retractors, power tools, mechanical grabbers and robotic arms. 7. The method of claim 1 wherein the application on the network device includes a cloud application communicating with a cloud communications network comprising one or more of each a public, private, community and hybrid networks, the cloud application providing the composite simulation method as a plurality of cloud services including a cloud computing Infrastructure as a Service (IaaS), a cloud computing Platform, as a Service (PaaS) and offers Specific cloud composite methods services as a Service (SaaS) including a cloud software service. 8. The method of claim 7 wherein the IaaS, PaaS and SaaS include one or more being simulated and further include one or more networking devices, storage network devices, or server network devices each with one or more processors, the one or more networking devices, storage devices or server network devices including virtualization applications, operating systems, middleware services, run-time services, data services, application services, or any combination thereof, on the cloud communications network. 9. The method of claim 1 wherein the application is implemented in hardware on the network device, or implemented by using field-programmable gate arrays (FPGA), by using global processing units (GPUs), or by using parallelization techniques on multiple central processing units (CPUs). 10. The method of Clam 1 further comprising: creating a set of dynamically-moving three-dimensional (3D) reference frames, the 3D reference frames allowing embedding of non-physically-based polygonal models, volumetric models, spline models non-uniform rational basis spline (NURBS) models, or subdivision surface models, each location, point, or voxel in a 3D reference frame corresponds to a location on a physically-based spine, hull or volume lattice. 11. The method of claim 1 wherein the network device communicates with the plurality of hardware components with Near Field Communications (NFC) or Machine-to-Machine (M2M) Communications protocols. 12. The method of claim 1 wherein the network device communicates with other network devices over a non-cloud communications network or a cloud communications network with “Wireless Fidelity” (Wi-Fi) or “Worldwide Interoperability for Microwave Access” (WiMAX) communications. 13. The method of claim 1 wherein the GUI includes 3D menus, sliders, or graphical buttons that graphically pop-up in or around a user interface for the plurality of hardware components. 14. The method of claim 1 further comprising: combining the composite simulation method with a particle system simulation method creating a new composite method to simulate materials or combinations of fluids and materials. 15. The method of claim 1 further comprising: splitting on the application on the network device a material or model to be simulated into a plurality of sub-components;determining on the application on the network device a plurality of points of contact between the sub-components and a plurality of other sub-components for another material or another model being simulated; andadding on the application on the network device, data for the composite simulation method only to selected sub-components of the material or model being simulated where interactions or motion of the material or model being simulated is required. 16. The method of claim 1 further comprising: creating on the application on the network device a simulation hierarchy with a N-number of levels, where a plurality of masses make up a body in a first level, a plurality of bodies are each treated as another plurality of masses in a larger body in a second level, a plurality of larger bodies are treated as masses in a yet-larger body in a third level in a pattern repeating for the N-number of levels; andadding on the application on the network device the simulation hierarchy to the composite simulation method to create a hierarchical composite method for simulating materials or methods. 17. The method of claim 16 wherein the hierarchical composite method includes a method to simulate a particle system including both particles and fluids or other viscous materials. 18. The method of claim 1, wherein the network device comprises one or more processors and one or more non-transitory computer readable mediums,the display is a 3D stereoscopic display oriented horizontally with a display area facing Up,the plurality of haptic devices are suspended above and behind the 3D stereoscopic display to have an operating range of the plurality of haptic devices that substantially covers a first portion of the 3D stereoscopic display's surface area,the head-trackers are positioned to make their range include an area in front of, to either side of, and above the 3D stereoscopic display so that a 3D space a user's head occupies during operation covers a second portion of the 3D stereoscopic display, andthe audio speakers comprise three or more speakers that are placed around or above the 3D stereoscopic display so that a third operational area enclosed by the three or more speakers forms a convex hull above and around the 3D stereoscopic display and a user to make audio sounds panned between the three or more speakers so that an audio sound appears to be coming precisely from a specific location in 3D space with respect to the user. 19. A non-transitory computer readable medium on one or more processors on one or more network devices having stored therein a plurality of instructions for executing a method for simulating rigid, semi-rigid, and flexible components of materials and models comprising the steps of: connecting to a network device with one or more processors from the one or more network devices, a display and a plurality of hardware components including a plurality of haptic devices, head trackers, stereoscopic displays and audio speakers connecting to each other and to the network device;defining on an application on the network device one or more individual components for each of one or more entities being simulated, wherein a three-dimensional (3D) entity includes at least four individual components combined into the 3D entity being simulated and wherein each of the one or more individual components include a plurality of individual component portions;defining on the application on the network device for each of the one or more individual components, a force transmission parameter obtained from a plurality of force transmission parameter values, a selected entity's rigid mass is greater than zero and less than its total mass, the plurality of force transmission parameter values including a first force transmission parameter value representing a fully flexible component, a second force transmission parameter value representing a fully rigid component and a plurality of other force transmission parameter values with values in-between the first force transmission parameter value and the second force transmission parameter value representing varying levels of semi-rigidity, wherein the selected entity's rigid mass is calculated according to the equation: mr=∑1nmitransiwherein mr is a rigid mass, mi, represents a mass of one of the selected entity's individual components and transi, is an individual component's corresponding force transmission parameter value;combining on the application on the network device a method for simulating flexible entities with a method for simulating rigid entities into a composite simulation method, the composite method including each entity being simulated comprising one or more individual components and each individual component being individually defined with a separate force transmission parameter value, allowing each of the plurality of individual component portions of the one or more individual components of the entity being simulated to include any combination of rigid, semi-rigid and flexible components, simulating either similar materials or composites of different materials or models, wherein the method for simulating flexible entities that has been combined uses a model comprising individual point-masses connected by idealized springs or dashpots, wherein the one or more individual components are represented by the point-masses, wherein in the composite simulation method, an acceleration due to rigid motion is calculated according to the equation: x¨ir=fimrtransi, wherein in the composite simulation method, an acceleration due to deformation is calculated according to the equation: x¨if=fimi(1-transi), wherein fi is a force applied to an individual component {umlaut over (x)}ir is an acceleration due to rigid motion and {umlaut over (x)}if is an acceleration due to deformation; obtaining on the application on the network device with the composite simulation method a plurality of positions, velocities and accelerations and a defined force transmission parameter value for each of the one or more individual components of each of the one or more entities entity being simulated;calculating on the application on the network device with the composite simulation method a plurality of forces and torques being applied on the one or more individual components of each of the one or more entities being simulated using the obtained positions, velocities or accelerations;calculating on the application on the network device with the composite simulation method one or more of new positions, velocities and accelerations of the one or more individual components of each of the one or more entities entity being simulated using the calculated plurality of forces and torques and the one or more defined force transmission parameters;receiving one or more selection inputs on the application on the network device with the composite simulation method from one or more haptic devices connected to the network device for virtually moving, pushing, cutting, tearing, creating holes therein, joining, melting or fusing one or more of the plurality of individual component portions of the one or more individual components of the one or more entities being simulated; anddisplaying in real-time on the application on the network device with the composite simulation method on a graphical user interface (GUI) with one or more graphical windows on the display the calculated one or more positions and any of the calculated one or more velocities or accelerations as a two-dimensional (2D) or a three dimensional (3D) graphical object view of a representation of each the one or more entities being simulated and presenting in real-time the composite simulation method's results as an output on the plurality of hardware components. 20. A system for simulating rigid, semi-rigid, and flexible components of materials and models comprising in combination: one or more network devices each with one or more processors and one or more non-transitory computer readable mediums;one or more applications on the one or more non-transitory computer readable mediums on the one or more network devices configured for:for connecting to a network device with one or more processors from the one or more network devices and a display and a plurality of hardware components including a plurality of haptic devices, head trackers, stereoscopic displays and audio speakers to each other and to the network device;for defining on an application the network device one or more individual components for each of one or more entities being simulated, wherein a three-dimensional (3D) entity includes at least four individual components combined into the 3D entity being simulated and wherein each of the one or more individual components include a plurality of individual component portions;for defining on the application on the network device for each of the one or more individual components, a force transmission parameter obtained from a plurality of force transmission parameter values, a selected entity's rigid mass is greater than zero and less than its total mass, the plurality of force transmission parameter values including a first force transmission parameter value representing a fully flexible component, a second force transmission parameter value representing a fully rigid component and a plurality of other force transmission parameter values with values in-between the first force transmission parameter value and the second force transmission parameter value representing varying levels of semi-rigidity, wherein the selected entity's rigid mass is calculated according to the equation: mr=∑1nmitransi wherein mr is a rigid mass, mi, represents a mass of one of the selected entity's individual components and transi, is an individual component's corresponding force transmission parameter value; for combining on the application on the network device a method for simulating flexible entities with a method for simulating rigid entities into a composite simulation method, the composite method including each entity being simulated comprising one or more individual components and each individual component being individually defined with a separate force transmission parameter value, allowing each of the plurality of individual component portions of the one or more individual components of the entity being simulated to include any combination of rigid, semi-rigid and flexible components, simulating either similar materials or composites of different materials or models, wherein the method for simulating flexible entities that has been combined uses a model comprising individual point-masses connected by idealized springs or dashpots, wherein the one or more individual components are represented by the point-masses, wherein in the composite simulation method, an acceleration due to rigid motion is calculated according to the equation: x¨ir=fimrtransi, wherein in the composite simulation method, an acceleration due to deformation is calculated according to the equation: x¨if=fimi(1-transi), wherein fi is a force applied to an individual component {umlaut over (x)}ir is an acceleration due to rigid motion and {umlaut over (x)}if is an acceleration due to deformation; for obtaining on the application on the network device with the composite simulation method a plurality of positions, velocities and accelerations and a defined force transmission parameter value for each of the one or more individual components of each of the one or more entities entity being simulated;for calculating on the application on the network device with the composite simulation method a plurality of forces and torques being applied on the one or more individual components of each of the one or more entities being simulated using the obtained positions, velocities or accelerations;for calculating on the application on the network device with the composite simulation method one or more of new positions, velocities and accelerations of the one or more individual components of each of the one or more entities entity being simulated using the calculated plurality of forces and torques and the one or more defined force transmission parameters;for receiving one or more selection inputs on the application on the network device with the composite simulation method from one or more haptic devices connected to the network device for virtually moving, pushing, cutting, tearing, creating holes therein, joining, melting or fusing one or more of the plurality of individual component portions of the one or more individual components of the one or more entities being simulated; andfor displaying in real-time on the application on the network device with the composite simulation method on a graphical user interface (GUI) with one or more graphical windows on the display the calculated one or more positions and any of the calculated one or more velocities or accelerations as a two-dimensional (2D) or a three dimensional (3D) graphical object view of a representation of each the one or more entities being simulated and presenting in real-time the composite simulation method's results as an output on the plurality of hardware components.
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