(19)
(11)EP 2 672 456 B1

(12)EUROPEAN PATENT SPECIFICATION

(45)Mention of the grant of the patent:
24.07.2019 Bulletin 2019/30

(21)Application number: 12305654.1

(22)Date of filing:  07.06.2012
(51)International Patent Classification (IPC): 
G06T 19/00(2011.01)

(54)

Method and system for dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design

Verfahren und System zur dynamischen Manipulation einer Anordnung von Objekten in einer dreidimensionalen Szene eines Systems mit computerunterstütztem Entwurf

Procédé et système pour manipuler dynamiquement un ensemble d'objets dans la scène tridimensionnelle d'un système de conception assistée par ordinateur


(84)Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

(43)Date of publication of application:
11.12.2013 Bulletin 2013/50

(73)Proprietor: Dassault Systèmes
78140 Vélizy-Villacoublay (FR)

(72)Inventors:
  • Santiquet, Laurent
    78990 Elancourt (FR)
  • Faure, Bertrand
    92100 Boulogne Billancourt (FR)

(74)Representative: Brunelli, Gérald 
Marks & Clerk France Immeuble Visium 22, avenue Aristide Briand
94117 Arcueil Cedex
94117 Arcueil Cedex (FR)


(56)References cited: : 
US-A- 6 061 062
US-A1- 2009 248 369
US-A1- 2008 243 456
US-B2- 7 823 085
  
  • Narayan ET AL: "Computer Aided Design and Manufacturing" In: "Computer Aided Design and Manufacturing", 31 December 2008 (2008-12-31), XP055234844,
  
Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention).


Description


[0001] The invention relates to the field of computers programs and systems, and more specifically to the field of designing of an assembly of objects in a Computer-Aided Design application.

[0002] Computer-aided techniques are known to include Computer-Aided Design or CAD, which relates to software solutions for authoring product design. Similarly, CAE is an acronym for Computer-Aided Engineering, e.g. it relates to software solutions for simulating the physical behavior of a future product. CAM stands for Computer-Aided Manufacturing and typically includes software solutions for defining manufacturing processes and operations.

[0003] A number of systems and programs are offered on the market for the design of objects (or parts) or assemblies of objects, forming a product, such as the one provided by Dassault Systèmes under the trademark CATIA. These CAD systems allow a user to construct and manipulate complex three dimensional or 3D models of objects or assemblies of objects. CAD systems thus provide a representation of modeled objects using edges or lines, in certain cases with faces. Lines or edges may be represented in various manners, e.g. non-uniform rational B-splines (NURBS). These CAD systems manage parts or assemblies of parts as modeled objects, which are mostly specifications of geometry. Specifically, CAD files contain specifications, from which geometry is generated, which in turn allow for a representation to be generated. Geometry and representation may be stored in a single CAD file or multiple ones. CAD systems include graphic tools for representing the modeled objects to the designers; these tools are dedicated to the display of complex objects; the typical size of a file representing an object in a CAD system being in the range of one Megabyte per part, and an assembly may comprise thousands of parts. A CAD system manages models of objects, which are stored in electronic files.

[0004] In computer-aided techniques, the graphical user interface GUI plays an important role as regards the efficiency of the technique. Most of the operations required for manipulating and/or navigating the modeled objects may be performed by the user (e.g. the designer) through the GUI. Especially, the user may create, modify, and delete the modeled objects forming the product, and also explore the product so as to comprehend how modeled objects are interrelated, e.g. via a product structure. Traditionally, these operations are carried out through dedicated menus and icons which are located on the sides of the GUI. Recently, CAD systems such as CATIA allow calling these operations nearby the representation of the product. The designer does not need anymore to move the mouse towards menus and icons. Operations are thus available within reach of the mouse. In addition, the operations behave semantically: for a given operation selected by the designer, the CAD system may suggest to the designer, still nearby the mouse, a set of new operations according to the former selected operation that the designer is likely to select.

[0005] Until recent years, some computer software used, for example in automotive and aerospace industry, are based on geometry, for mechanical engineers to be able to see their work in space or in a three-dimensional displaying.

[0006] In this domain, computer softwares like CATIA, allow design geometry in a three dimensions space. Such menus and toolbars contain a set of user-selectable icons, each icon being associated with one or more operations or functions. Some of these icons are associated with software tools, adapted for editing and/or working on a 3D geometrical modeled products or parts of products such as that displayed in the graphical user interfaces GUI. In the following description, terms "product", "part", "assembly" and the like may be referred to as "part" for the sake of simplicity. The concept of "part" can also be generalized to that of "object". An object encompasses any constituent of the final digital mock-up, for instance, considering an assembly, an object of this assembly can be a sub-assembly, a part, a kinematic joint, a material, the embedded software executed on an Electronic Control Unit (ECU), or any object needed to describe the entire environment of the assembly, like the modeling of the atmosphere in the case you want to study an airplane flying capacities.

[0007] It is known to configure kinematic links to simulate, regardless of the physical laws of dynamic forces, but not in a real-time manner, or, in other words not dynamically.

[0008] The kinematic joint definition of an assembly is the set of all kinematic joints between the parts of this assembly.

[0009] If certain compatibility rules are satisfied between all joints, a kinematic solver can compute the possible position of parts and shows this as an animation. But this animation will not take into account the physical rules of energy conservation and in the example of a pendulum will not show the balancing effect due to gravity.

[0010] It is equally known, in video games, using dynamic interaction for years but in gaming the animation must seem realistic to ensure a high level of interactivity with the player. But the physical values of speed and acceleration, although realistic are not exact. In gaming, the player interacts with the model without monitoring the efforts applied on controls. Even when a force feedback joystick is used, the feedbacks only gives an impression of what it would take in real life to move the model, but no numerical value can be used there, because no real calculate is made. In gaming, the program is a compilation of a plurality of scenarios that cannot be changed, and only seem realistic, but are not.

[0011] It is equally known to configure kinematic links to simulate, taking into account the physical laws of dynamic forces, but after calculation, thus not in real-time, and thus not with dynamic interactions with the user.

[0012] A goal of the invention is to provide a computer-implemented method and a system for dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, taking into account dynamically, or, in other words in real-time the physical laws of dynamic forces, like gravity and load (force, torque).

[0013] It is proposed, according to one aspect of the invention, a computer-implemented method for dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, the method comprising the steps of :
  • providing the assembly of objects with information relative to kinematic joints linking objects of the assembly ;
  • providing a dynamic manipulating tool embedded in the scene, comprising a referential with three-axis allowing for each axis a degree of freedom in translation and a degree of freedom in rotation ;
  • attaching said dynamic manipulating tool to one object of the assembly,
  • selecting a degree of freedom of the dynamic manipulating tool attached to the object of the assembly ;
  • applying a load according to said selected degree of freedom ;
  • calculating in real-time and displaying in real-time the result of a dynamic simulation of said load applying.


[0014] Such a dynamic manipulating tool is described in the document US 7823085 B2.

[0015] Such a method allows to take into account dynamically, or, in other words in real-time the physical laws of dynamic forces, like gravity and load (force, torque).

[0016] Thus the method increases the realism of simulation and observe natural effects, avoiding impossible configuration: kinematic can find positions of an assembly that are mathematically possible but not physically reachable.

[0017] According to an embodiment, the step of applying a load according to said selected degree of freedom comprises:
  • a first sub-step of selecting a range of load values ; and
  • a second sub-step of determining a load value among said range.


[0018] Thus it is easy for the user to dynamically determine the load to apply to the assembly of objects.

[0019] According to an embodiment, the step of applying a load according to said selected degree of freedom comprises a third sub-step of determining a referential in which the load is applied.

[0020] Determining a referential from which the load is applied allows to define relatively to which part the load is applied. If the part is not specified, then a referential called "world" is set.

[0021] According to an embodiment, the step of applying a load according to said selected degree of freedom comprises a fourth sub-step of determining if the three-axis of the dynamic manipulating tool rotates or not with the object on which the dynamic manipulating tool is attached.

[0022] Determining if the three-axis of the dynamic manipulating tool rotates or not with the object on which the dynamic manipulating tool is attached is used only when the referential of the load is the world referential. If the user wants to apply a load in a constant direction (like a far away attraction), the manipulator should not rotate with the object. If the load should be applied in a local axis (to spin a motor axel for example), the user sets the manipulator to turn with the object.

[0023] If the referential of the load is not the world referential, but another part of the assembly, then, for simplicity reason, the manipulator should always turn with the part.

[0024] These two choices (referential and rotation of manipulator) are necessary to cover the scientific description of a load applied to a solid. The load must be described in a referential (theorem of action/reaction) and with the axis system to express it. The axis system is the manipulator.

[0025] According to an embodiment, the step of applying a load is executed by performing a movement of the dynamic manipulating tool, the movement of the tool being converted into a load value.

[0026] Thus, the user can manipulate the selected part with a mouse like he would do with a joystick in a video game for example.

[0027] According to an embodiment, said conversion takes into account a speed for a movement of translation according to an axis or an acceleration for a movement of rotation according to an axis or a combination of acceleration and speed to drive both rotation and translation.

[0028] Such a conversion allows a dynamic manipulation of objects as close as possible to real life feelings:
  • for rotation : real life feeling is "a short, but accelerating impulse motion on a rotating part increases its rotation speed by application of a torque". This statement corresponds to the physically correct statement because friction in rotation is usually minimized in real life assemblies by mean of special devices like ball bearings for example.
  • for translation : real life feeling is "pushing an object with high velocity applies a strong load on it". Although not theoretically correct, this statement corresponds to human feeling of friction that is observed in almost all translation motions.
  • A more sophisticated combination of acceleration and speed can be used to drive both translation and rotation motion.


[0029] According to an embodiment, the movement of the dynamic manipulating tool is performed with a mouse with a pressed button or with a contact of a finger on a screen of displaying.

[0030] Thus it is very easy for the user to apply a load.

[0031] For example, said movement with a mouse or a finger is applied at a distance of the dynamic manipulating tool.

[0032] Thus it is possible to apply the load at the right place with keeping a good visibility on the screen because manipulation occurs on interactors but not directly on the manipulator as explained further in this document.

[0033] Alternatively, the step of applying a load is executed by directly supplying a value of the load.

[0034] According to the case, it can be an easiest way to apply a load for the user.

[0035] The load can be a force or a torque.

[0036] It is proposed, according to another aspect of the invention, a computer-readable medium having computer-executable instructions to cause the computer system to perform the method for dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design as described above.

[0037] It is proposed, according to another aspect of the invention, a computer program product, stored on a computer readable medium, for dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, comprising code means for causing the system to take the steps as described above.

[0038] It is proposed, according to another aspect of the invention, an apparatus for dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design comprising means for implementing the steps of the method as described above.

[0039] The invention will be better understood with the study of some embodiments described by way of non-limiting examples and illustrated by the accompanying drawings wherein :
  • figures 1 to 7 illustrate an example of dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, in a basic use case, according to an aspect of the invention ;
  • figures 8 to 10 illustrate an example of dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, in a case wherein a load is applied in a constant direction, according to an aspect of the invention ;
  • figures 11 to 14 illustrate an example of dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, in a case wherein a load is applied in a direction parallel to a part of the assembly, according to an aspect of the invention ;
  • figures 15 to 20 illustrate an example of dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, in a case wherein a load is applied by numerical input to a part of the assembly, according to an aspect of the invention ;
  • figures 21 to 23 illustrate an example of dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, in a case wherein a load is applied relatively to another part, according to an aspect of the invention; and
  • figures 24 and 25 illustrate a method according to an aspect of the invention.


[0040] The steps of the present method can be performed by one or more programmable processors executing a computer program to perform functions of the invention by operating on input data and generating output.

[0041] A computer program can be written in any form of programming language, including compiled or interpreted languages, and the computer program can be deployed in any form, including as a stand-alone program or as a subroutine, element or other unit suitable for use in a computing environment. A computer program can be deployed to be executed on one computer or on multiple computers at one site or distributed across multiple sites and interconnected by a communication network.

[0042] Following figures explain more in details the functioning of the present invention.

[0043] On figures 1 to 7 is illustrated a basic use case of the present invention.

[0044] On figure 1, the method starts with a 3D model or assembly of objects stopped or immobile. On this example the assembly of objects or 3D model is a centrifugal "fly ball" governor CG whose rotation of the mast would spread apart the two spheres of the assembly until the maximum distance between them is reached.

[0045] In a step 1, a dynamic simulation is started by pressing on a displayed button BSTART as illustrated on figure 1.

[0046] The displayed result is represented on figure 2, wherein the arms of the assembly fall down because of the effect of gravity. A dynamic manipulator DM, and a pause button BPAUSE, a stop button BSTOP, and a rewind button BREW appear. The pause button BPAUSE, the stop button BSTOP, and the rewind button are respectively adapted to suspend, stop, and rewind the dynamic simulation.

[0047] Like in known systems only taking into account kinematic links, the usual way of interaction is a 3D manipulator, and in the present invention a dynamic 3D manipulator DM.

[0048] A manipulator is a graphical artifact controllable by a mouse (cf US7823085) or with a finger on a touch screen. It's positioned on a part and suggests different ways of manipulation. The dynamic manipulator DM is composed of an axis system with three orthogonal axes and three arcs of circle offering different directions of manipulation: three translations along each of the three axis directions, and three rotations along the three arcs or, in other words, around the three axis. In brief, the dynamic manipulator DM comprises and offers six degrees of freedom.

[0049] An interaction on an axis would translate the part on which the manipulator is placed, and an interaction on an arc would turn the part on which the manipulator is placed. As dynamic manipulation is running, this manipulation can turn and translate the part of the assembly on which it is placed taking into account physical laws of motion: it's a dynamic manipulator. The character dynamic of the manipulator is illustrated by double arcs of circle.

[0050] Thus in a step 2, the user can make a drag and drop of the dynamic manipulator DM on the part of the assembly where the user wants to apply the load.

[0051] The displayed result is represented on figure 3, wherein the user can select one of the six possible manipulation along one of the six degrees of freedom (the three translations and the three rotations). Thus a manipulator panel MP is displayed. The manipulator panel MP comprises a gauge GAU to monitor the load applied, and a selector SEL of level of strength, for example with three icons, each representative of a range of strength. In the present example, three icons are represented, a first icon with a hand, representative of 0.1 to 1 N.m for a torque, and 0.1 to 1 N for a force, a second icon with a horse, representative of 1 to 103 N.m for a torque and 1 to 103 N for a force, and a third icon with a bulldozer, representative of 1 to 106 N.m for a torque and 1 to 106 N for a force.

[0052] Furthermore, the manipulator panel MP comprises a field REL to explain relatively to what or to which reference frame or referential the load is applied (world or part of the assembly), and an option OPT to rotate or not the dynamic manipulator DM, or, in other word, to rotate the three axis with the part of the assembly or to keep constant their orientation in space.

[0053] Thus in a step 3, the user selects one of the six possible manipulation along one of the six degrees of freedom. In the present example user selects rotation along Z axis.

[0054] The displayed result is represented on figure 4, wherein rotation interactors INT appears, for example represented with two curved arrows, and, in the gauge GAU the minimum and maximum values are set according to the "strength" selector SEL indication, in this case the minimum and maximum values are 0.1 and 1 N.m of torque.

[0055] Thus, in a step 4, the user apply, in the present case, a torque with a mouse or a finger in case of touch screen.

[0056] In case of a translation, the speed drives the force, and in case of rotation, the acceleration drives the torque. A combination of acceleration and speed can also be used to drive translation and rotation.

[0057] The displayed result is represented on figure 5, wherein the gauge GAU indicates the numerical value of said torque around a selected axis in N.m applied to the part of the assembly. The assembly moves accordingly.

[0058] Thus, in a step 5, the user can stop applying the torque by releasing a mouse button or finger from a touch screen.

[0059] The displayed result is represented on figure 6, wherein the assembly rotation continues.

[0060] Thus, in a step 6, the user takes the dynamic manipulator DM away from the part of the assembly whose it was attached to.

[0061] The displayed result is represented on figure 7, wherein the assembly rotation continues until the user decides to pause or stop the dynamic simulation. The manipulator panel MP is closed and the dynamic manipulator DM reappears ready for another manipulation until simulation is stopped.

[0062] On figures 8 to 10 is illustrated an example of dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, in a case wherein a load is applied in a constant direction.

[0063] The method starts, like illustrated on figure 8, with a 3D model or assembly of objects stopped or immobile. On this example the assembly of objects or 3D model is an assembly comprising a balancing part or lever.

[0064] The dynamic simulation is already started and the dynamic manipulator DM is fixed on or attached to the lever. In a step 1, the user make sure that the option OPT of rotate with part of the manipulator panel MP is set to NO. Furthermore the selector SEL selects the hand icon, representative of a load comprised between 0.1 and 1 N.m.

[0065] Thus, the assembly is still balancing, and in a step 2, the user selects an axis of the dynamic manipulator DM.

[0066] On figure 9, translation interactors INT appear, for example represented with two straight arrows, and the user applies a force with a mouse or a finger in case of touch screen. The translation interactors INT don't move, otherwise the user would need to "run after the part" to apply a force. The dynamic manipulator DM follows the part at which it is linked and axis keep their orientation in the world reference frame, in other words axis don't rotate with said part. The balancing motion is going on.

[0067] Thus, like illustrated on figure 10, the dynamic manipulator DM follows the part to which it is linked and axis keep a constant orientation in the world reference frame, it doesn't rotate with the part, while the balancing motion is going on.

[0068] The user can apply a force in a given constant direction relatively to the world reference frame as if he pulls with an infinite rope.

[0069] On figures 11 to 14 is illustrated an example of dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, in a case wherein a load is applied in a direction parallel to a part of the assembly, according to an aspect of the invention.

[0070] The method starts, like illustrated on figure 11, with a 3D model or assembly of objects stopped or immobile. On this example the assembly of objects or 3D model is a connecting rod-piston.

[0071] The dynamic simulation is started and the dynamic manipulator DM is attached to a part of the assembly. In a step 1, the user set the option OPT "rotate with part" to YES, like illustrated on figure 12, for the axis rotate with the part to which they are attached.

[0072] In a step 2, the user selects an axis for manipulation, and in a step 3, like represented on figure 13, the user can apply a force with a mouse or a finger in case of touch screen. Furthermore, the translation interactors INT appear.

[0073] Then, the dynamic manipulator DM follows the part of the assembly to which it is linked, like illustrated on figure 14, with the axis keeping parallel to the part to which they linked, in other words the rod.

[0074] Thus, the user can apply a force on a part of the assembly following the part in the motion, like if he would use his hand to apply motion in real life.

[0075] On figures 15 to 20 is illustrated an example of dynamically manipulating an assembly of objects, a centrifugal "fly ball" governor, in a three-dimensional scene of a system of computer-aided design, in a case wherein a load is applied in by numerical input to a part of the assembly.

[0076] On figure 15, the method starts with a 3D model or assembly which is a centrifugal "fly ball" governor. The dynamic Manipulator DM is attached the mast base. The user selects one of the six possible manipulation among the three translations and the three rotations along the three axis.

[0077] Thus rotation interactors INT appear, like illustrated on figure 16, and, in a step 2, the user enters a numerical value or turn the gauge GAU spindle with the mouse or a finger in case of touch screen.

[0078] A message "set value" appears to indicate to the user that the load is driven by this value, like represented on figure 17, and the user can click on the rotation interactors INT (arrow) to apply the indicated load.

[0079] During motion, the spindle of the gauge GAU moves on the set value to indicate that this value is applied, like illustrated on figure 18. The assembly starts to rotate as the torque is applied. The rotation accelerates until the load is not applied anymore. Thus, in a step 4, the user can release the load by releasing mouse button or finger from the screen.

[0080] Thus like represented on figure 19, the gauge spindle indicates "0" as no more load is applied, and the message "set value" is still displayed.

[0081] In a step 5, the user can remove the set value by drag and drop of the mark of the gauge. The rotation continues like on figure 20. The following is like for basic cases.

[0082] On figures 21 to 22 is illustrated an example of dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, in a case wherein a load is applied relatively to another part.

[0083] On figure 21 a dynamic simulation on a steering wheel SW of a car on which the dynamic manipulator DM is attached. In a step 1, the user clicks in the field REL "relatively to" and in a step 2, like illustrated on figure 22, selects a part or element of the assembly, in this case the dashboard DB.

[0084] Thus, like illustrated on figure 23, the user can apply a load as if he sits in the car, relatively to the dashboard DB.

[0085] To summarize the above, the method according to an aspect of the invention comprises the step illustrated on figure 24.

[0086] In a first step S1, the method provides the assembly of objects with information relative to kinematic joints linking objects of the assembly.

[0087] Then, in a second step S2, the method provides a dynamic manipulating tool DM embedded in the scene, comprising a referential with three-axis allowing for each axis a degree of freedom in translation and a degree of freedom in rotation, and in a third step S3 the method attaches said dynamic manipulating tool DM to an object of the assembly.

[0088] Thus, in a fourth step S4, the method selects a degree of freedom of the dynamic manipulating tool DM attached to the object of the assembly, in a fifth step S5, the method applies a load according to said selected degree of freedom, and in a sixth step S6 calculates in real-time and displays in real-time the result of a dynamic simulation of said load applying.

[0089] For example, like illustrated on figure 25, the fifth step S5 can comprise a first sub-step S5a of selecting a range of load values, and a second sub-step S5b of determining a load value among said range.

[0090] Furthermore, the fifth step S5 can comprise an optional third sub-step S5c of determining a referential from which the load is applied, and an optional fourth sub-step S5d of determining if the three-axis of the dynamic manipulating tool rotate or not with the object on which the dynamic manipulating tool is attached.

[0091] Thus the present invention provides a computer-implemented method and a system for dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, taking into account dynamically, or, in other words in real-time the physical laws of dynamic forces, like gravity and load (force, torque).


Claims

1. A computer-implemented method for dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, the method comprising the steps of :

- providing (S1) the assembly of objects with information relative to kinematic joints linking objects of the assembly ;

- providing (S2) a dynamic manipulating tool (DM) embedded in the scene, comprising a referential with three axes allowing for each axis a degree of freedom in translation and a degree of freedom in rotation ;

- attaching (S3) said dynamic manipulating tool (DM) to one object of the assembly;

- selecting (S4) a degree of freedom of the dynamic manipulating tool (DM) attached to the object of the assembly ;

- selecting (S5d) if the axes of the dynamic manipulating tool rotate with the object of the assembly to which the dynamic manipulating tool is attached or not;

- performing a movement using a mouse with a pressed button or with a contact of a finger on a screen of displaying;

- converting the said movement into a load value, the load being a force or a torque, said conversion taking into account a speed for a movement of translation according to an axis or an acceleration for a movement of rotation according to an axis,

- applying (S5) the load to the object, the load having said value and the direction of the axis of the selected degree of freedom, said direction keeping either a fixed orientation in a world reference frame or rotating with the object according to said selecting (S5d) if the axes of the dynamic tool rotate with the object of the assembly to which the dynamic manipulating tool is attached; and

- calculating and displaying in real-time (S6) the result of a dynamic simulation of applying said load

wherein, during said calculating and displaying in real-time (S6) the result of a dynamic simulation, the dynamic manipulator follows the part of said object of the assembly to which it is attached.
 
2. Method according to claim 1, wherein the step (S5) of applying a load according to said selected degree of freedom comprises :

- a second sub-step (S5b) of determining a load value among said range.


 
3. Method according to claim 1 or 2, wherein the step (S5) of applying a load according to said selected degree of freedom comprises a third sub-step (S5c) of determining a referential in which the load is applied.
 
4. Method according to any one of the preceding claims, wherein said movement with a mouse or a finger is applied at a distance from the dynamic manipulating tool (DM).
 
5. Computer-readable medium having computer-executable instructions to cause the computer system to perform the method for dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design of any one of claims 1 to 4.
 
6. A computer program product, stored on a computer readable medium, for dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design, comprising code means for causing the system to take the steps of any one of claims 1 to 4.
 
7. An apparatus for dynamically manipulating an assembly of objects in a three-dimensional scene of a system of computer-aided design comprising means for implementing the steps of the method of any one of claims 1 to 4.
 


Ansprüche

1. Computerimplementiertes Verfahren zum dynamischen Manipulieren einer Baugruppe von Objekten in einer dreidimensionalen Szene eines Systems zum computergestützten Konstruieren, wobei das Verfahren die folgenden Schritte umfasst:

- Versehen (S1) der Baugruppe von Objekten mit Information in Bezug auf kinematische Gelenke, die Objekte der Baugruppe verbinden;

- Bereitstellen (S2) eines in die Szene eingebetteten dynamischen Manipulationswerkzeugs (DM), das ein Koordinatensystem mit drei Achsen umfasst, was für jede Achse einen Freiheitsgrad in der Translation und einen Freiheitsgrad in der Drehung ermöglicht;

- Anbringen (S3) des dynamischen Manipulationswerkzeugs (DM) an einem Objekt der Baugruppe;

- Auswählen (S4) eines Freiheitsgrades des am Objekt der Baugruppe angebrachten dynamischen Manipulationswerkzeugs (DM);

- Auswählen (S5d), ob die Achsen des dynamischen Manipulationswerkzeugs sich mit dem Objekt der Baugruppe, an dem das dynamische Manipulationswerkzeug angebracht ist, drehen oder nicht;

- Durchführen einer Bewegung unter Verwendung einer Maus mit einer gedrückten Taste oder mit einer Berührung eines Fingers auf einem Anzeigeschirm;

- Umwandeln der Bewegung in einen Lastwert, wobei die Last eine Kraft oder ein Drehmoment ist, wobei die Umwandlung eine Geschwindigkeit für eine Translationsbewegung entlang einer Achse oder eine Beschleunigung für eine Rotationsbewegung um eine Achse berücksichtigt,

- Anwenden (S5) der Last auf das Objekt, wobei die Last den Wert und die Richtung der Achse des ausgewählten Freiheitsgrades aufweist, wobei die Richtung entweder eine feste Ausrichtung in einem Weltkoordinatensystem beibehält oder sich mit dem Objekt dreht, und zwar gemäß dem Auswählen (S5d), ob die Achsen des dynamischen Manipulationswerkzeugs sich mit dem Objekt der Baugruppe, an dem das dynamische Manipulationswerkzeug angebracht ist, drehen oder nicht; und

- in Echtzeit erfolgendes Berechnen und Anzeigen (S6) des Ergebnisses einer dynamischen Simulation des Anwendens der Last, worin

während des Berechnens und Anzeigens des Ergebnisses einer dynamischen Simulation in Echtzeit (S6) das dynamische Manipulationswerkzeug dem Teil des Objekts der Baugruppe folgt, an dem er angebracht ist.
 
2. Verfahren nach Anspruch 1, worin der Schritt (S5) des Anwendens einer Last gemäß dem ausgewählten Freiheitsgrad umfasst:

- einen ersten Teilschritt (S5a) des Auswählens eines Bereichs von Lastwerten; und

- einen zweiten Teilschritt (S5b) des Bestimmens eines Lastwerts innerhalb des Bereichs.


 
3. Verfahren nach Anspruch 1 oder 2, worin der Schritt (S5) des Anwendens einer Last gemäß dem ausgewählten Freiheitsgrad einen dritten Teilschritt (S5c) des Bestimmens eines Koordinatensystems, in dem die Last angewendet wird, umfasst.
 
4. Verfahren nach einem der vorhergehenden Ansprüche, worin die Bewegung mit einer Maus oder einem Finger in einem Abstand von dem dynamischen Manipulationswerkzeug (DM) ausgeführt wird.
 
5. Computerlesbares Medium mit computerausführbaren Anweisungen, um das Computersystem zu veranlassen, das Verfahren zum dynamischen Manipulieren einer Baugruppe von Objekten in einer dreidimensionalen Szene eines Systems zum computergestützten Konstruieren nach einem der Ansprüche 1 bis 4 durchzuführen.
 
6. Computerprogrammprodukt, gespeichert auf einem computerlesbaren Medium, zum dynamischen Manipulieren einer Baugruppe von Objekten in einer dreidimensionalen Szene eines Systems zum computergestützten Konstruieren, umfassend Codemittel zum Veranlassen des Systems, die Schritte nach einem der Ansprüche 1 bis 4 vorzunehmen.
 
7. Vorrichtung zum dynamischen Manipulieren einer Baugruppe von Objekten in einer dreidimensionalen Szene eines Systems zum computergestützten Konstruieren, umfassend Mittel zum Implementieren der Schritte des Verfahrens nach einem der Ansprüche 1 bis 4.
 


Revendications

1. Procédé mis en oeuvre par ordinateur pour manipuler de manière dynamique un ensemble d'objets dans une scène en trois dimensions d'un système de conception assistée par ordinateur, le procédé comprenant les étapes constituées par :

- le fait de munir (S1) l'ensemble d'objets des informations qui concernent des articulations cinématiques qui lient des objets de l'ensemble ;

- la fourniture (S2) d'un outil de manipulation dynamique (DM) qui est intégré dans la scène, comprenant un référentiel muni de trois axes qui assure à chaque axe un degré de liberté en termes de translation et un degré de liberté en termes de rotation ;

- la fixation (S3) dudit outil de manipulation dynamique (DM) sur un objet de l'ensemble ;

- la sélection (S4) d'un degré de liberté de l'outil de manipulation dynamique (DM) qui est fixé sur l'objet de l'ensemble ;

- la sélection (S5d) de si oui ou non les axes de l'outil de manipulation dynamique tournent avec l'objet de l'ensemble sur lequel l'outil de manipulation dynamique est fixé ;

- la réalisation d'un mouvement en utilisant une souris qui est munie d'un bouton destiné à être pressé ou à l'aide d'un contact d'un doigt sur un écran d'affichage ;

- la conversion dudit mouvement en une valeur de charge, la charge étant une force ou un couple, ladite conversion prenant en compte une vitesse pour un mouvement de translation par rapport à un axe ou une accélération pour un mouvement de rotation par rapport à un axe ;

- l'application (S5) de la charge sur l'objet, la charge présentant ladite valeur et la direction de l'axe du degré de liberté sélectionné, ladite direction soit maintenant une orientation fixe dans un repère de référence universel, soit décrivant une rotation avec l'objet selon ladite sélection (S5d) si les axes de l'outil de manipulation dynamique tournent avec l'objet de l'ensemble sur lequel l'outil de manipulation dynamique est fixé ; et

- le calcul et l'affichage en temps réel (S6) du résultat d'une simulation dynamique de l'application de ladite charge ;

dans lequel pendant ledit calcul et ledit affichage en temps réel (S6) du résultat d'une simulation dynamique, l'outil de manipulation dynamique suit la partie dudit objet de l'ensemble sur laquelle il est fixé.
 
2. Procédé selon la revendication 1, dans lequel l'étape (S5) d'application d'une charge selon ledit degré de liberté sélectionné comprend :

- une première sous-étape (S5a) de sélection d'une plage de valeurs de charge ; et

- une deuxième sous-étape (S5b) de détermination d'une valeur de charge au sein de ladite plage.


 
3. Procédé selon la revendication 1 ou 2, dans lequel l'étape (S5) d'application d'une charge selon ledit degré de liberté sélectionné comprend une troisième sous-étape (S5c) de détermination d'un référentiel dans lequel la charge est appliquée.
 
4. Procédé selon l'une quelconque des revendications qui précèdent, dans lequel ledit mouvement réalisé à l'aide d'une souris ou à l'aide d'un doigt est appliqué à une certaine distance de l'outil de manipulation dynamique (DM).
 
5. Support lisible par ordinateur comportant des instructions pouvant être exécutées par un ordinateur pour amener le système d'ordinateur à réaliser le procédé pour manipuler de manière dynamique un ensemble d'objets dans une scène en trois dimensions d'un système de conception assistée par ordinateur selon l'une quelconque des revendications 1 à 4.
 
6. Progiciel, stocké sur un support lisible par ordinateur, pour manipuler de manière dynamique un ensemble d'objets dans une scène en trois dimensions d'un système de conception assistée par ordinateur, comprenant des moyens de code pour amener le système à suivre les étapes selon l'une quelconque des revendications 1 à 4.
 
7. Appareil pour manipuler de manière dynamique un ensemble d'objets dans une scène en trois dimensions d'un système de conception assistée par ordinateur comprenant des moyens pour mettre en oeuvre les étapes du procédé selon l'une quelconque des revendications 1 à 4.
 




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Cited references

REFERENCES CITED IN THE DESCRIPTION



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Patent documents cited in the description