Animal movement pathological state three-dimensional animation generation method, device and equipment and storage medium

Abstract

The invention provides an animal movement pathological state three-dimensional animation generation method and device, equipment and a storage medium. Relates to the crossing field of computer graphics and digital medical technology. The method comprises the following steps: generating a target body structure from a basic geometry based on anatomical data, cooperatively refining muscle lines and body surface contours by adopting multiple tools, and controlling edge flows through masks and topological poles to obtain a target model topological graph; hair features are generated through a particle system, bones are bound, and motion constraints of the spine, the neck and the limbs are set; skeleton, muscle and motion features are driven through biomechanical pathological feature parameterization, and a periodic gait animation is generated by using key frame interpolation and a loop modifier. According to the invention, through parameterized driving of skeleton, muscle and motion characteristics of quadruped animals, precise reduction of sick postures such as limp, joint malformation and nerve injury and high-fidelity generation of 3D animations are realized.

Description

Technical Field

[0001] The present application relates to the interdisciplinary technical field of computer graphics and digital medical technology, and in particular to a method, apparatus, device and storage medium for generating three-dimensional animation of animal pathological motion states. Background Art

[0002] Traditional 3D biological animation production technologies, such as 3Ds Max, rely on animators manually adjusting model keyframes and simulating motion through skeletal rigging and skin weight editing, which has limitations. For example, animating a horse's lameness requires frame-by-frame leg position modification, and simulating a single pathological condition can take hours to days of manual work, making it inefficient. Furthermore, animators are required to possess knowledge of veterinary physiology and anatomy, otherwise it is difficult to accurately reproduce pathological features, resulting in a high professional threshold. Furthermore, it is impossible to quickly generate variant animations using quantitative parameters, lacking parametric control.

[0003] While pre-built animation libraries like VetSimulator can address some teaching challenges, they only offer a limited number of preset conditions, such as 10 common equine lamenesses, and lack flexibility in covering complex or compound pathological conditions. Biomechanical simulation software, such as AnyBody, requires input of physical parameters such as muscle force and joint torque, and generating a single simulation takes minutes to hours, resulting in high computational complexity. Furthermore, Anybody focuses on mechanical data analysis rather than visualization. In particular, it primarily serves human movement research and lacks a library of quadruped pathology models, limiting its applicability.

[0004] Traditional 3D biological animation production technology relies on animators to manually adjust the model, and the production cycle of pathological animation is long and costly. General 3D tools do not have veterinary-specific parameter control modules; the preset animation library cannot respond to new diseases or variant symptoms and only provides limited preset symptoms; biomechanical simulation software requires the input of physical parameters, and it takes minutes to hours to generate a single simulation. It has high computational complexity and focuses on mechanical data analysis, not visualization-oriented. It also lacks a quadruped pathology model library and has a narrow range of applicability. Summary of the Invention

[0005] The present application provides a method, apparatus, equipment and storage medium for generating three-dimensional animations of pathological states of animal motion, which convert biomechanical pathological characteristics into parameterized instructions that can drive a 3D model. The method generates animations of abnormal motion within the same technical framework, realizing the unified modeling requirements of dynamic and static pathological states. The method constructs a parameter adjustment architecture that does not rely on a specific biological model and supports expansion from horses to other quadrupeds.

[0006] In a first aspect, the present application provides a method for generating a three-dimensional animation of an animal's pathological motion state, comprising:

[0007] Based on anatomical data, the target body structure is generated from the basic geometry in 3D modeling software. Multiple tools are used to collaboratively refine muscle lines and body contours. Edge flow is controlled through masks and topological poles to obtain the target model topology.

[0008] Based on the target model topology, hair features are generated through a particle system, bones are bound using IK / FK hybrid control, and motion constraints of the spine, neck, and limbs are set to obtain a target model skeleton constraint map;

[0009] Based on the target model skeleton constraint graph, the bones, muscles and motion characteristics are parameterized through biomechanical pathological characteristics, and periodic gait animation is generated using keyframe interpolation and loop modifiers. The root controller displacement curve is adjusted to eliminate sliding and generate a three-dimensional animation of the target pathological motion.

[0010] In one possible design, based on anatomical data, a target body structure is generated from a base geometry in 3D modeling software, including:

[0011] Enter Sculpt mode to create a new sphere. Trim the front and back ends and adjust the top height. Use the Smooth tool to refine the curved contour to generate the ribcage. Use the Grab brush to extract the abdominal structure from the ribcage. Refine the shape of the ribcage and abdomen and increase the mesh density of the abdomen to complete the modeling of the ribcage structure.

[0012] Switch from Sculpting Mode to Object Mode, create a new cube and enable Symmetry. Similarly, adjust the shape and set the mesh density. Use the Inflate brush to inflate and soften the hard edges to connect it to the ribcage. Create a new trapezoidal geometry to create the pelvic slope structure to match the hind leg connection, completing the main structure.

[0013] Generate one side of the pelvis, and use the mirror modifier to symmetrically generate the other side of the pelvis to complete the construction of the pelvis;

[0014] The shoulder blade is constructed by using multiple cubes for circular cutting and rotation;

[0015] Create a new sphere and re-mesh it into cylindrical forelegs. Use line projection to cut the joints and use the grab brush to refine the curvature to form the bilateral forelimbs. Deform the new sphere into cylindrical thighs in sculpt mode. Use the 3D cursor to locate the pivot point to scale the calves and use the extrusion tool to adjust the proportions to form the bilateral hind limbs. Deform the new sphere and place it at the bottom as the hoof to complete the limbs and joints. Deform the new sphere into the neck and deform the cube into a trapezoidal head to construct the head. The tail is completed by adjusting the texture in the later stage.

[0016] Set the origin to the 3D cursor and the Z-axis position to 0, make sure the bottom of the model is on the ground, adjust the overall proportions and sizes based on the Z-axis height, merge all independent parts into the same mesh and perform global adjustments to generate the target body structure.

[0017] In one possible design, the tools used to collaboratively refine muscle lines and body contours include:

[0018] Smoothing tool to repair sharp edges at the intersection of geometric bodies;

[0019] The inflatable brush and the grabbing brush are used to coordinately stretch thin areas such as the abdomen to avoid misoperation on the sides;

[0020] Multi-plane scraping tool for flattening structures by aligning the slope of the spine and the top of the hind legs through two-plane cutting.

[0021] In one possible design, the edge flow is controlled by masking and topological poles to obtain the target model topology, including:

[0022] At the junction of the forechest and dorsal abdomen, the junction of the hind legs and dorsal abdomen, and the junction of the chest and abdomen, poles are created as edge flow direction control points. The edge flow direction is determined with reference to the motion mode modeling logic and muscle direction. The vertices are stretched to fit the model surface through extrusion operations, and the vertices are quickly connected to fill the quadrilateral surface. The vertices on both sides are copied and merged with the help of the mirror modifier. The three poles follow this process to complete the topology of the body and limbs, and the surface is optimized through the relaxation brush, smooth brush and indentation modifier to obtain the target model topology map.

[0023] In one possible design, the ways to generate hair features through a particle system include:

[0024] Performing a UV unfolding operation on the target model topology map and allocating an independent UV layer for the hair map;

[0025] The tail hair base and mane hair base of the target model topology were selected as the target areas. Two independent particle systems were created, named Tail Hair System and Mane Hair System respectively. The emitter parameters of the particle systems were adjusted, including setting the number, length, and randomness of hairs. Child particle systems were enabled to increase the hair density details. The curvature of the hairs was adjusted through interpolation, and the curvature value of the mane hair system was higher than that of the tail hair system.

[0026] Use the Hair Info node to build a hair material, set the base color, polarization properties, and roughness parameters; add a gradient texture to the hair material corresponding to the tail hair system to simulate the transition effect between light and dark; use the Hair Info node to control the thickness of the hair root and tip;

[0027] Enable the physical properties of the hair and adjust the bending and stiffness parameters. For the mane hair system, reduce the stiffness to enhance the softness, and for the tail hair system, increase the stiffness to reduce excessive swinging.

[0028] Added wind field module to optimize the natural performance of hair movement.

[0029] In one possible design, IK / FK hybrid control is used to bind the skeleton, set the motion constraints of the spine, neck, and limbs, and obtain the target model skeleton constraint graph, including:

[0030] Perform normal direction consistency check and repeat vertex merging operations on animal 3D models in pose mode to ensure topological integrity of the model;

[0031] Based on animal anatomical data, a unilateral skeletal chain is created in the modeling software and subdivided in the joint motion area. A complete skeletal system is generated through symmetry operations, which includes at least the spine, limbs, and head and neck skeletal units. An automatic weight distribution algorithm is used to bind the skeletal system to the model surface skin to generate a basic driving template.

[0032] A skeletal kinematic chain is constructed based on the parent-child hierarchical relationship, wherein: the metatarsal bones are bound to the main bones of the lower limbs by maintaining offset constraints; the head and neck bones are respectively kinematically linked to the spine bones;

[0033] Duplicate the tailbone skeleton chain and add a scale transform constraint to achieve axial extension and retraction. Use the IK controller and the copy transform constraint to establish a linear motion baseline for the spine. Use the transform constraint to map the Z-axis rotation to the X-axis displacement, and use extreme value inversion to correct the direction of motion.

[0034] Construct a center of mass controller as a top-level motion node, integrating the displacement and rotation parameters of the FK controller and the spine IK controller; replace auxiliary controllers with geometry identifiers, and unify the management of constraint spline visualization through empty objects;

[0035] The linkage effect of spinal flexion, neck rotation, and limb gait was tested, and model distortion was eliminated by applying an interpolation algorithm to the neck joint to adjust the bending attenuation strength; and applying the same motion logic consistency check to the limb constraint system.

[0036] In one possible design, based on the target model skeleton constraint graph, the bones, muscles, and motion features are parametrically driven by biomechanical pathological characteristics, keyframe interpolation and loop modifiers are used to generate periodic gait animation, and the root controller displacement curve is adjusted to eliminate sliding to generate a target pathological motion 3D animation, including:

[0037] Cyclic gait construction: Set the hind leg motion cycle, reset the joint rotation controller to zero at the touchdown time point (t0, t0+T), and adjust the foot end tilt angle at the lift-off time point (t0+T / 2, t0+3T / 4); apply linear interpolation to the touchdown motion curve, copy the keyframes to form a closed loop cycle, and add a cyclic motion modifier; offset the phase of the front leg keyframe by T / 2, set linear interpolation at the touchdown time point t0+T / 4, and adjust the stride by scaling the Y-axis displacement curve;

[0038] Spinal motion synchronization: Mark the lowest position of the spine at the time when the hind leg touches the ground, and copy the keyframes at a period of T to generate the undulating movement of the spine; adjust the X-axis rotation curve to control the highest point of the spine, and add a loop modifier to synchronize the Z-axis displacement with the X-axis rotation curve;

[0039] Global motion optimization: Map the limb touchdown keyframe to the root controller's Y-axis displacement curve, and reverse the curve direction to move the model forward; detect and eliminate motion slippage: verify the continuity of the Y-axis velocity curve and correct the slope of the linear segment at the touchdown time point; copy the Y-axis curve of the dominant leg to the contralateral leg and apply a T / 4 phase offset to eliminate displacement deviation; fine-tune the scapula rotation curve and limb scaling parameters, and ensure no slippage and natural gait through motion continuity verification.

[0040] In a second aspect, the present application provides a device for generating a three-dimensional animation of an animal's pathological motion state, the device comprising:

[0041] The model topology module is configured to generate the target body structure from the basic geometry in the 3D modeling software based on anatomical data, and use multiple tools to collaboratively refine muscle lines and body surface contours, and control edge flow through masks and topological poles to obtain the target model topology map;

[0042] a model constraint module configured to generate hair features based on the target model topology through a particle system, use IK / FK hybrid control to bind the skeleton, set motion constraints for the spine, neck, and limbs, and obtain a target model skeleton constraint graph;

[0043] The animation generation module is configured to drive the bones, muscles and motion characteristics based on the target model skeleton constraint graph through biomechanical pathological feature parameterization, generate periodic gait animation using keyframe interpolation and loop modifier, adjust the root controller displacement curve to eliminate sliding, and generate a three-dimensional animation of the target pathological motion.

[0044] In a third aspect, an embodiment of the present application provides an electronic device comprising: at least one processor and a memory; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the method for generating three-dimensional animation of animal pathological states as described in the first aspect and various possible designs of the first aspect.

[0045] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When a processor executes the computer execution instructions, a three-dimensional animation generation method for animal motion pathological states as described in the first aspect and various possible designs of the first aspect is implemented.

[0046] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the method for generating three-dimensional animation of animal pathological states as described in the first aspect and various possible designs of the first aspect.

[0047] The method, device, equipment, and storage medium for generating three-dimensional animation of animal pathological motion states provided in this application have at least the following beneficial effects:

[0048] This application uses parametric driving of the skeleton, muscles, and movement characteristics of limbed animals to achieve accurate restoration of pathological postures such as lameness, joint deformity, and nerve damage, and high-fidelity generation of 3D animations. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0050] Figure 1 A flowchart of a method for generating a three-dimensional animation of an animal's pathological motion state provided in an embodiment of the present application;

[0051] Figure 2 This is a schematic diagram of the first version of the horse model provided in the embodiments of this application;

[0052] Figure 3 A schematic diagram of the topology of a horse model provided in an embodiment of the present application; wherein (a) is a topology display diagram of the horse model; (b) is a topology display diagram of the horse model in detail;

[0053] Figure 4 This is a schematic diagram of the final version of the horse model diagram provided in the embodiment of the present application;

[0054] Figure 5 Schematic diagram of the skeleton after binding provided in the embodiment of the present application; wherein, (a) is a diagram of the horse model skeleton binding; (b) is a side view of the horse model skeleton binding;

[0055] Figure 6 A skeleton constraint diagram of a horse model provided in an embodiment of the present application;

[0056] Figure 7 This is a structural diagram of the device for generating three-dimensional animation of animal pathological motion states provided in an embodiment of the present application.

[0057] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0059] In the technical solution of this application, the collection, storage, use, processing, transmission, provision and disclosure of information such as financial data or user data involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0060] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned. They should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0061] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0062] In response to the core issues such as the long production cycle and high cost of manual pathology animation, the lack of veterinary-specific parameter control modules in general 3D tools, the inability of preset animation libraries to respond to new diseases or variant symptoms, and the need for rapid generation of pathology animations and universality of cross-species pathology simulation, this application focuses on the core technology of 3D animation generation driven by pathology feature parameters, covering multiple application scenarios such as veterinary medicine, medical education, and biomechanical analysis, and proposes a method for generating 3D animations of animal motion pathological states, such as Figure 1 As shown, it is a specific flow chart of the method for generating three-dimensional animation of animal pathological motion state provided by an embodiment of the present application. The method for generating three-dimensional animation of animal pathological motion state includes the following steps S100-S300.

[0063] S100: Based on anatomical data, the target body structure is generated from the basic geometry in 3D modeling software, and multiple tools are used to collaboratively refine muscle lines and body surface contours. The edge flow is controlled by masks and topological poles to obtain the target model topology.

[0064] In this example, based on anatomical data, the chest, abdomen, pelvis, and limb structures are gradually generated from basic geometry in Blender. The Mirror modifier is used to ensure symmetry and optimize mesh density and joint connections. Multiple tools (smoothing brush, grab brush, and multi-plane scraping) are used to refine muscle lines and body contours. Masks and topology points are used to control edge flow, achieving anatomically compliant model topology.

[0065] Anatomical data must cover the morphology, size, and connection relationships of bones, muscles, joints, and body surface structures. Taking horses (a typical quadruped) as an example, anatomical data includes skeletal anatomical data, muscle anatomical data, joint kinematic data, and body surface contour data.

[0066] The skeletal anatomy data includes:

[0067] Spinal structure: 7 cervical vertebrae (C1-C7, C1 is ring-shaped, C2 has a special odontoid process), 18 thoracic vertebrae (T1-T18, vertebral bodies with ribbed articular surfaces), 6 lumbar vertebrae (L1-L6, with wide transverse processes);

[0068] Limb skeleton: The length of the femur is about 25% of the body height, the length of the tibia is 80% of the femur, and the diameter of the metacarpal bones decreases by 30% from proximal to distal.

[0069] Joint morphology: The hip joint is a ball-and-socket joint, and the depth of the acetabulum covers 60% of the surface area of ​​the femoral head; the knee joint is a trochlear joint, and the curvature radius ratio of the femoral condyle to the tibial plateau is 1.2:1.

[0070] Muscle anatomy data includes:

[0071] Attachment points: origin of the quadriceps femoris (anterior iliac wing, intertrochanteric line of the femur), insertion point (tibial tuberosity); origin of the latissimus dorsi (spinous processes of the 9th to 18th thoracic vertebrae), insertion point (ridge of the lesser tuberosity of the humerus);

[0072] Size: The gluteus maximus is approximately 2-4 cm thick (when standing on the hind limbs), covering the posterolateral aspect of the femur in a fan-shaped pattern. The biceps femoris fibers run obliquely from the ischial tuberosity to the fibular head, reaching a width of 8 cm in the middle.

[0073] Fiber direction: The pectoral muscle fibers run obliquely from the sternum to the outside and above, forming a 30° angle with the horizontal plane; the gastrocnemius muscle fibers run vertically downward, dominantly affecting the plantar flexion of the ankle joint.

[0074] Joint kinematics data include:

[0075] Range of motion: shoulder flexion 0°-110°, extension 0°-30°; knee flexion 0°-120° (range is reduced in pathological conditions such as arthritis); hip abduction 15°-30°;

[0076] Movement axis: The shoulder joint rotation axis is along the "front-back" direction, with an angle of 15° to the coronal plane; the wrist joint rotation axis is tilted 20° to adapt to the transmission of ground reaction force.

[0077] Body surface contour data includes:

[0078] Proportional relationship: head length (from occiput to nose tip) is 1 / 5 of body height, with withers height 5cm higher than the midline of back;

[0079] Bumps and wrinkles: When the quadriceps muscles contract, a 3cm high bulge forms in front of the knee joint; when the head is lowered, three skin folds with a spacing of 4cm appear on the ventral side of the neck;

[0080] Contour curve: The midline of the back is "S"-shaped from the withers to the sacrum, the curvature radius of the thoracic contour (at the 6th thoracic vertebra) is 20cm, and the curvature radius of the lumbar contour (at the 3rd lumbar vertebra) is 30cm.

[0081] In some embodiments, using a horse as an example, collecting key information about the horse requires measuring each bone to determine the proportions of each body part and generating a reference image. Blender 3.6 and the reference image are placed simultaneously on the window page and several settings in the Blender panel are adjusted: enabling autosave in Save & Load, checking the number of minutes between autosaves and the number of saved versions, and specifying the save path in File Path to prevent any damage to the project file in the event of a software crash; enabling the X-axis Mirror modifier to avoid coordinate offsets. Create basic shapes from basic geometry, following the principle of working from rough shapes to details, starting with the main structure and then gradually adjusting and refining the structure.

[0082] First, create a new sphere in Sculpt mode. Trim the front and back ends and adjust the top height. Use the Smooth tool to refine the curved contours to create the ribcage. Then, use the Grab brush to extract the abdominal structure from the ribcage, trimming the ribcage and abdomen and increasing the mesh density of the abdomen. Switch to Object mode, create a new cube and enable Symmetry. Similarly, adjust the shape and set the mesh density. Use the Inflate brush to inflate and soften the hard edges to integrate it with the ribcage. Create a new trapezoidal geometry to create the pelvic slope structure to match the hind leg connection, completing the main structure. Create one side of the pelvis using the same method as the ribcage modeling, and use the Mirror modifier to create the other side symmetrically. Use multiple cubes to cut and rotate them in a loop to complete the shoulder blades, using the Mirror modifier to synchronize the structures on both sides. Create a new sphere and remesh it into cylindrical forelegs. Use line projection to cut the joints and use the Grab brush to refine the curvature to form the two forelimbs. In Sculpt mode, deform the new sphere into cylindrical thighs. Use the 3D cursor to locate the pivot point and scale the lower legs. Use the Extrude tool to adjust the proportions to form the two hind limbs. Deform the new sphere and place it at the bottom as the hooves, completing the limbs and joints. Deform the new sphere into the neck and deform the cube into a trapezoidal head to create the head. The tail will be completed with texturing later. Set the origin to the 3D cursor and the Z-axis position to 0, ensuring the bottom of the model is on the ground. Adjust the overall proportions and size based on the Z-axis height. Use Ctrl+J to merge all independent parts into a single mesh and perform global adjustments.

[0083] Refine the outlines and volumes. Key tools at this stage include the Smooth tool, which repairs sharp edges at geometric intersections; the Inflate and Grab brushes, which work together to stretch thin areas like the abdomen and avoid side effects; and the Multiplane Scrape tool, which flattens the structure by slicing across two planes to align the slopes of the spine and the tops of the hind legs. Duplicate the model using Shift+D and save it to a separate, hidden collection to protect the original data. Then, enter Sculpt mode and adjust the voxel size, prioritizing a low-density mesh (around 0.01) for coarse adjustments to avoid premature detail. Flexibly apply various brushes to define the model's contours and shape, shaping the general muscle definition. At the upper corner of the head, use the Mask tool to mark the ear area and delete any excess. Press Ctrl+I to invert the mask and stretch the ear structure. Use the Proportional Editing function to adjust the pivot point position and rotation angle to complete the ear creation and sculpting. Clear the mask using Alt+M, then switch back to Edit mode and return to the normal layout. Set the Transform Pivot Point to the 3D Cursor and select the head mesh and rotate it to the target height.

[0084] Based on the above sculpting, this example further increases the mesh density to sculpt more details, adjusts the voxel size, continues to refine the joints, and depicts brushstrokes along the muscle direction to make the structures more naturally connected. At this density, the eye sockets are carved in the head eye area, a UV sphere is created and resized, and placed in the eye sockets, and the shape of the eye sockets and the inner and outer corners of the eyes is adjusted. Re-examine and increase the mesh density of the head, outline the nostrils and lips, and sculpt the head bone structure and muscle lines to obtain Figure 2 The first version of the horse model shown here achieves the target body structure.

[0085] In some embodiments, based on the target body structure, the model is topologically transformed in the following manner to obtain a target model topology map:

[0086] Enable the Snap to Face function to ensure that vertices fit the model surface; create a new plane and reset its position, then enter Edit Mode to clear the initial edge structure. Key tools for this stage include: the Annotation Brush, used to draw edge flow directions directly on the model surface, calibrating the path based on muscle anatomy; and the Mirror Modifier, with the Merge and Cut functions enabled, to constrain vertex movement to the positive X-axis.

[0087] At the junction of the forechest and dorsal abdomen, the junction of the hind legs and dorsal abdomen, and the junction of the chest and abdomen, poles are created as edge flow direction control points, and the edge flow direction is determined with reference to the motion mode modeling logic and muscle direction. Use the E key to extrude the vertices to fit the model surface, use the F key to quickly connect the vertices to fill the quadrilateral surface, use the mirror modifier to copy and merge the vertices on both sides, and follow this process for the three poles to complete the topology of the body and limbs. Finally, use the relaxation brush, smoothing brush and indentation modifier to optimize the surface to make it smooth and uniform. The head needs to be processed separately because it involves facial expressions. This production uses the muscle direction of the horse in the expressionless state as the standard, creates poles at the nose, cheekbone and mandible points, and completes the head topology according to the above process. The final effect is as follows Figure 3 shown.

[0088] S200: Based on the target model topology, hair features are generated through a particle system, bones are bound using IK / FK hybrid control, motion constraints of the spine, neck, and limbs are set, and a target model skeleton constraint graph is obtained.

[0089] In this embodiment, step S200 establishes a dynamic hair and skeletal system. The mane and tail hair are generated using a particle system, and physical properties (curvature and stiffness) and material nodes (Principled Hair BSDF) are adjusted to simulate natural motion. Skeletal rigging utilizes hybrid IK / FK control to construct a system of spine extension, neck rotation, and limb gait constraints. High degrees of freedom of motion are achieved through copying transformations and stretching constraints, and weight distribution is verified to prevent animation distortion.

[0090] In some embodiments, the method of generating hair features through the particle system includes:

[0091] Make sure the model UV is unfolded properly and assign an independent UV layer to the hair map. Select the target area (the root of the tail / mane), enter the particle system, and create two independent particle systems, named "Tail_Hair" and "Mane_Hair". Adjust the emitter to Hair, set the number, length and randomness. Then enable the sub-level to increase the density details, and adjust the curvature of the hair through interpolation. The mane requires a higher curvature value to simulate natural drooping. Use the Principled HairBSDF node to create a hair material, set the base color, polarization and roughness, and add a gradient to the mane to simulate the transition between light and dark. Use the hair information node to control the thickness of the root and tip. Enable physical properties, adjust the bend and stiffness, reduce the stiffness of the mane to enhance the softness, and increase the stiffness of the tail to reduce excessive swinging. Add a wind field to optimize the naturalness of movement. Get Figure 3 Final version of the horse model diagram shown.

[0092] In some embodiments, IK / FK hybrid control is used to bind the skeleton, and motion constraints of the spine, neck, and limbs are set to obtain the target model skeleton constraint graph as follows:

[0093] Bone rigging must be performed in pose mode. Before rigging, the model's normal direction and duplicate vertex check must be completed to avoid weight distribution issues when skinning the model and holes in the model during animation. The general rigging process requires first creating the skin skeleton, followed by the auxiliary extension. This is used to create IK and FK effects when rigging the spine and neck. Leg rigging involves switching between these two effects, so another set of auxiliary bones is required to constrain the auxiliary controllers.

[0094] For skeleton rigging, first, refer to the full-body skeleton diagram of a horse, create one side of the skeleton in the model, place it in the appropriate position and subdivide it in the movable part as needed, then symmetrize it in edit mode to get a complete skeleton.

[0095] Hold down the shift key to select the skeleton, Ctrl&p to select automatic weight, complete the skinning, and get a template that moves with the skeleton. Hold down the shift key to select the hoof skeleton, switch to edit mode, Ctrl&p and select Keep Offset, bind it to the metatarsal skeleton, complete the parent-child relationship, and the child skeleton will move with the parent skeleton. Similarly, bind the head skeleton to the neck skeleton, chest skeleton, and waist skeleton.

[0096] Binding constraints organize the skin skeleton into separate layers. First, create an auxiliary stretch effect for the spine. Select the tailbone and enter Edit mode. Duplicate the skeleton chain and scale it to flatten it. After renaming the chain, add "Copy Transform" and "Stretch 2" constraints to achieve the spine stretching effect. Next, duplicate and scale the skeleton chain to generate an IK controller. Bind the auxiliary controller to the IK controller using a "Maintain Offset" parent relationship to ensure coordinated stretching. Link the spine position using a Copy Position constraint, adjusting the constraint parameters to create a straight line. For the rotation-controlled position linkage, add a Transform constraint to map the rear spine's X-axis rotation to the mid-spine's Z-axis position, simultaneously handling the effect of the Z-axis rotation on the X-axis position. Correct the direction of motion by inverting the extremes. Apply the same logic to the front spine, duplicating the constraints and adjusting the extremes to ensure linkage accuracy. Next, create a FK controller, duplicate the auxiliary controller, and eliminate redundant constraints. Implement forward kinematics through parent-child hierarchy. Build a Center of Mass controller, duplicate the rear spine's IK controller, and adjust its size. Bind the top-level FK and rear spine IK controllers to the Center of Mass controller to unify global motion. Finally, a sphere is used to replace the auxiliary controller, a cube is used to replace the IK controller, the axis is adjusted, and the spline display is centrally managed through an empty object. The linkage effect of each controller is verified to ensure that the bending, rotation, and extension of the spine are smooth and without model distortion. This completes the systematic integration of the spine constraint and controller. The neck constraint is the same as above. Finally, the linkage effect of each controller is verified to ensure that the neck bending, extension, and head rotation are free of model distortion. The bending bone attenuation strength is fine-tuned through Ease In / Out to complete the high-freedom neck binding system. The front legs, hind legs, and hooves follow the same rules. Finally, we get Figure 6 .

[0097] S300: Based on the target model skeleton constraint graph, the bones, muscles and motion features are driven by biomechanical pathological feature parameterization, keyframe interpolation and loop modifier are used to generate periodic gait animation, the root controller displacement curve is adjusted to eliminate sliding, and the target pathological motion three-dimensional animation is generated.

[0098] In this embodiment, step S300 is used to generate and render pathological animations. This generates periodic gait animations based on keyframe interpolation and a loop modifier, while simultaneously adjusting the root controller displacement curve to eliminate slippage and ensure motion continuity. The final output is rendered using the Cycles physics engine and supports MP4 or image sequence formats, making it suitable for subsequent medical visualization analysis.

[0099] Exemplarily, the biomechanical pathological characteristic parameters include bone-related parameters, muscle-related parameters, kinematic parameters, and kinetic parameters, as shown in Tables 1 to 4, respectively.

[0100] Table 1 Bone-related parameters

[0101]

[0102]

[0103] Table 2 Muscle-related parameters

[0104]

[0105] Table 3 Kinematic parameters

[0106]

[0107] Table 4 Kinetic parameters

[0108]

[0109] Based on the parameters shown in Tables 1 to 4, the mechanism of parameter-driven skeleton, muscle, and motion features includes one of skeleton driving, muscle driving, and motion feature driving, and a combination thereof.

[0110] Skeletal drive changes the skeleton posture / morphology from the skeleton parameters, including joint angle / deformation drive and displacement type deformity and bone length drive.

[0111] To drive joint angle / deformity, create a custom attribute (such as "Varus Angle") for the joint bone in 3D software (such as Blender) and associate it with the bone's rotation channel (Z-axis rotation). Entering "Knee Varus 15°" will rotate the bone 15° around the Z axis to simulate the deformity.

[0112] Taking hip dislocation as an example of displacement-type deformity, associate the bone position channel with the X-axis displacement and input "2cm". The bone will translate along the X-axis to simulate subluxation.

[0113] Bone length is driven by the Scale Constraint or the stretch attribute of the bone segment. By inputting "shorten the tibia by 10%", the bone segment is scaled to 90% of its length along the axis, simulating limb shortening.

[0114] Muscle drive includes muscle force / tension driven deformation and muscle activation timing driven movement.

[0115] Among them, muscle force / tension driven deformation is achieved through vertex weight mapping and dynamic constraints.

[0116] Vertex weight mapping is implemented by creating a vertex weight map for the muscle model. Force / tension parameters are associated with vertex displacement. A higher force value causes higher-weight vertices to bulge outward, simulating muscle spasms and bulges. Dynamic constraints simulate muscle tension using spring constraints. When the tension coefficient is ×2, the constraint stiffness increases, making the muscle "tighter" and simultaneously pulling on the skeletal joints. For example, increasing the gastrocnemius muscle tension increases ankle plantar flexion, simulating foot drop.

[0117] Muscle activation timing drives motion by setting activation time offsets for muscle-controlled skeletal properties (such as knee extension) within a keyframe animation system. While normal quadriceps activation occurs 10 frames after touchdown, pathological activation is delayed to 20 frames, resulting in delayed knee extension and a "bend-knee gait."

[0118] Motion feature driving includes gait cycle / stride driving and motion trajectory offset driving.

[0119] The gait cycle / stride drive is implemented by adjusting the displacement curve of the root controller. For example, if you input "reduce the stride of the affected side by 30%", the curve amplitude will be scaled to 70%; if you input "shorten the cycle by 20%", the curve key frame interval will be compressed to 80%, thus achieving pathological gait rhythm and amplitude.

[0120] The motion trajectory offset drive method is as follows: create a position offset attribute for the target point of the IK controller (Inverse Kinematics), enter "affected hoof adducted 2cm", move the target point 2cm to the left along the X-axis, and the skeleton chain (such as the leg) follows the adduction, simulating the compensatory trajectory during lameness.

[0121] In some embodiments, the process of generating a periodic gait animation using keyframe interpolation and a loop modifier, adjusting the root controller displacement curve to eliminate sliding, and generating a target pathological motion 3D animation is as follows:

[0122] Hide the root controller to prevent accidental touches. Start the loop animation from the hind legs. Determine the keyframes for the left hind leg's foot touching the ground (frames 0 and 32) and lifting off the ground (frames 16 and 24). Use Alt+R to reset the rotation value of the reverse rotation controller, ensuring that the value returns to zero when touching the ground. Use the controller to adjust the foot's tilt angle when lifting off the ground. Set the curve interpolation of the touchdown segment to linear, Shift+D to copy the keyframes to frames 0 and 32, and delete the redundant frames. After selecting all curves, use Shift+E to add a loop modifier to ensure seamless animation.

[0123] The logic for the front leg is the same as for the back leg, but the left and right limb keyframes need to be staggered, for example, by offsetting them by 16 frames. Set up linear interpolation at the foot's touchdown frame 8, and adjust the foot's posture at the liftoff frame 28. Duplicate the keyframes and add a Cycle modifier. Check the Y position curve simultaneously, and scale the stride length by S+Y to ensure it matches the front leg's motion.

[0124] Mark the lowest point of the spine after the left hind leg touches the ground. Duplicate the keyframe and generate a cyclic motion every 16 frames. The highest point is achieved by adjusting the X-rotation curve, ensuring a uniform amplitude. Select the Z Position and X-rotation keyframes, add a Cycle modifier, and amplify the curve amplitude using S+Y if necessary. Set the pivot point to the center of the bounding box to optimize the naturalness of the up-and-down motion.

[0125] Display the Root Controller, insert a Y Position keyframe, copy the Foot Touchdown keyframe to the Root Controller, and invert its Y curve (S+Y→-1) to move the character forward. If the rear foot appears to be sliding, check the consistency of the Y Velocity curve. At the touchdown frame, such as frame 8, adjust the slope of the linear segment. Use Shift+S to align the cursor keyframes to ensure the front and rear legs have synchronized strides. Copy the left leg's Y curve to the right leg, starting at frame 19, to eliminate any displacement errors.

[0126] Check that all controller keyframes are at 32-frame intervals. Adjust the scale of the shoulder blades and limb curves, and fine-tune G+Y to ensure overall animation consistency. Observe the character's movements from the side viewport, and adjust the forefoot position and spine amplitude until the walk is smooth and the gait is natural.

[0127] In some embodiments, the target pathological motion 3D animation is rendered and outputted in the following manner:

[0128] Before output, make sure that the timeline range covers the complete action, check the continuity of the keyframes, and avoid frame skipping or penetration. Go to "Output Properties", select the format MP4, set the resolution, frame rate and save path. Then switch to "Rendering Properties", select the engine Cycles physical simulation, adjust the sampling rate, light bounce and noise reduction. Enable the transparency option. Click "Render → Render Animation", Blender will generate files frame by frame. Render a single frame (F12) to test the effect first. Video output needs to wait for synthesis to be completed, and image sequences need to be spliced ​​later. Check the integrity of the output file to ensure there are no black frames or freezes. If it is a sequence frame, import and export it as the final video through video editing software such as DaVinci Resolve, and adjust the bit rate to balance image quality and volume.

[0129] The present application also provides a device for generating three-dimensional animation of animal pathological motion states, such as Figure 7 As shown, the device for generating three-dimensional animation of animal pathological motion includes:

[0130] The model topology module 701 is configured to generate a target body structure from basic geometric bodies in a 3D modeling software based on anatomical data, and use multiple tools to collaboratively refine muscle lines and body surface contours, and control edge flow through masks and topological poles to obtain a target model topology map;

[0131] The model constraint module 702 is configured to generate hair features based on the target model topology through a particle system, use IK / FK hybrid control to bind the skeleton, set motion constraints for the spine, neck, and limbs, and obtain a target model skeleton constraint map;

[0132] The animation generation module 703 is configured to drive the bones, muscles and motion features based on the target model skeleton constraint graph through biomechanical pathological feature parameterization, generate periodic gait animation using key frame interpolation and loop modifier, adjust the root controller displacement curve to eliminate sliding, and generate a three-dimensional animation of the target pathological motion.

[0133] An embodiment of the present application provides an electronic device, which may include a processor and a memory, wherein the processor and the memory can communicate with each other; illustratively, the processor and the memory communicate with each other via a communication bus.

[0134] The processor executes the computer-executable instructions stored in the memory, so that the processor implements the solutions in the above embodiments. The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0135] The communication bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. System buses can be categorized as address buses, data buses, and control buses. Transceivers enable communication between the database access device and other computers (e.g., clients, read-write libraries, and read-only libraries). Memory may include random access memory (RAM) or non-volatile memory.

[0136] The electronic device provided in the embodiment of the present application may be the terminal device of the above embodiment.

[0137] An embodiment of the present application also provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer executes the technical solution of the method for generating three-dimensional animation of animal pathological motion states in the above embodiment.

[0138] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, it can implement the technical solution of the method for generating three-dimensional animation of animal pathological states in the above-mentioned embodiment.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or module, which can be electrical, mechanical or other forms.

[0140] Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of these modules may be selected to implement the solution of this embodiment based on actual needs.

[0141] In addition, the functional modules in the various embodiments of the present application may be integrated into a single processing unit, or each module may exist physically separately, or two or more modules may be integrated into a single unit. The above-mentioned modules may be implemented in the form of hardware or hardware plus software functional units.

[0142] The above-mentioned integrated module implemented in the form of a software functional module can be stored in a computer-readable storage medium. The above-mentioned software functional module is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform some steps of the methods of various embodiments of the present application.

[0143] It should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), or application-specific integrated circuits (ASICs). A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly implemented by a hardware processor or implemented by a combination of hardware and software modules in the processor.

[0144] The memory may include a high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk.

[0145] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be divided into address buses, data buses, and control buses.

[0146] The storage medium may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0147] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic control unit or a main control device.

[0148] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for generating a three-dimensional animation of an animal's pathological motion state, characterized in that: The method comprises: Based on anatomical data, the target body structure is generated from the basic geometry in 3D modeling software. Multiple tools are used to collaboratively refine muscle lines and body contours. Edge flow is controlled through masks and topological poles to obtain the target model topology. Based on the target model topology, hair features are generated through a particle system, bones are bound using IK / FK hybrid control, and motion constraints of the spine, neck, and limbs are set to obtain a target model skeleton constraint map; Based on the target model skeleton constraint graph, the bones, muscles and motion characteristics are parameterized through biomechanical pathological characteristics, and periodic gait animation is generated using keyframe interpolation and loop modifiers. The root controller displacement curve is adjusted to eliminate sliding and generate a three-dimensional animation of the target pathological motion.

2. The method for generating a three-dimensional animation of an animal's pathological motion state according to claim 1, characterized in that: Based on anatomical data, target body structures are generated from basic geometry in 3D modeling software, including: Enter Sculpt mode to create a new sphere. Trim the front and back ends and adjust the top height. Use the Smooth tool to refine the curved contour to generate the ribcage. Use the Grab brush to extract the abdominal structure from the ribcage. Refine the shape of the ribcage and abdomen and increase the mesh density of the abdomen to complete the modeling of the ribcage structure. Switch from Sculpting Mode to Object Mode, create a new cube and enable Symmetry. Similarly, adjust the shape and set the mesh density. Use the Inflate brush to inflate and soften the hard edges to connect it to the ribcage. Create a new trapezoidal geometry to create the pelvic slope structure to match the hind leg connection, completing the main structure. Generate one side of the pelvis, and use the mirror modifier to symmetrically generate the other side of the pelvis to complete the construction of the pelvis; The shoulder blade is constructed by using multiple cubes for circular cutting and rotation; Create a new sphere and re-mesh it into cylindrical forelegs. Use line projection to cut the joints and use the grab brush to refine the curvature to form the bilateral forelimbs. Deform the new sphere into cylindrical thighs in sculpt mode. Use the 3D cursor to locate the pivot point to scale the calves and use the extrusion tool to adjust the proportions to form the bilateral hind limbs. Deform the new sphere and place it at the bottom as the hoof to complete the limbs and joints. Deform the new sphere into the neck and deform the cube into a trapezoidal head to construct the head. The tail is completed by adjusting the texture in the later stage. Set the origin to the 3D cursor and the Z-axis position to 0, make sure the bottom of the model is on the ground, adjust the overall proportions and sizes based on the Z-axis height, merge all independent parts into the same mesh and perform global adjustments to generate the target body structure.

3. The method for generating a three-dimensional animation of an animal's pathological motion state according to claim 1, wherein: Tools used to collaboratively refine muscle lines and body contours include: Smoothing tool to repair sharp edges at the intersection of geometric bodies; The inflatable brush and the grabbing brush are used to coordinately stretch thin areas such as the abdomen to avoid misoperation on the sides; Multi-plane scraping tool for flattening structures by aligning the slope of the spine and the top of the hind legs through two-plane cutting.

4. The method for generating a three-dimensional animation of an animal's pathological motion state according to claim 1, wherein: By controlling the edge flow through masks and topological vertices, the target model topology is obtained, including: At the junction of the forechest and dorsal abdomen, the junction of the hind legs and dorsal abdomen, and the junction of the chest and abdomen, poles are created as edge flow direction control points. The edge flow direction is determined with reference to the motion mode modeling logic and muscle direction. The vertices are stretched to fit the model surface through extrusion operations, and the vertices are quickly connected to fill the quadrilateral surface. The vertices on both sides are copied and merged with the help of the mirror modifier. The three poles follow this process to complete the topology of the body and limbs, and the surface is optimized through the relaxation brush, smooth brush and indentation modifier to obtain the target model topology map.

5. The method for generating three-dimensional animation of animal pathological motion according to claim 1, characterized in that: Ways to generate hair features through particle systems include: Performing a UV unfolding operation on the target model topology map and allocating an independent UV layer for the hair map; The tail hair base and mane hair base of the target model topology were selected as the target areas. Two independent particle systems were created, named Tail Hair System and Mane Hair System respectively. The emitter parameters of the particle systems were adjusted, including setting the number, length, and randomness of hairs. Child particle systems were enabled to increase the hair density details. The curvature of the hairs was adjusted through interpolation, and the curvature value of the mane hair system was higher than that of the tail hair system. Use the Hair Info node to build a hair material, set the base color, polarization properties, and roughness parameters; add a gradient texture to the hair material corresponding to the tail hair system to simulate the transition effect between light and dark; use the Hair Info node to control the thickness of the hair root and tip; Enable the physical properties of the hair and adjust the bending and stiffness parameters. For the mane hair system, reduce the stiffness to enhance the softness, and for the tail hair system, increase the stiffness to reduce excessive swinging. Added wind field module to optimize the natural performance of hair movement.

6. The method for generating three-dimensional animation of animal pathological motion states according to claim 1, characterized in that: Use IK / FK hybrid control to bind bones, set motion constraints for the spine, neck, and limbs, and obtain the target model skeleton constraint graph, including: Perform normal direction consistency check and repeat vertex merging operations on animal 3D models in pose mode to ensure topological integrity of the model; Based on animal anatomical data, a unilateral skeletal chain is created in the modeling software and subdivided in the joint motion area. A complete skeletal system is generated through symmetry operations, which includes at least the spine, limbs, and head and neck skeletal units. An automatic weight distribution algorithm is used to bind the skeletal system to the model surface skin to generate a basic driving template. A skeletal kinematic chain is constructed based on the parent-child hierarchical relationship, wherein: the metatarsal bones are bound to the main bones of the lower limbs by maintaining offset constraints; the head and neck bones are respectively kinematically linked to the spine bones; Duplicate the tailbone skeleton chain and add a scale transform constraint to achieve axial extension and retraction. Use the IK controller and the copy transform constraint to establish a linear motion baseline for the spine. Use the transform constraint to map the Z-axis rotation to the X-axis displacement, and use extreme value inversion to correct the direction of motion. Construct a center of mass controller as a top-level motion node, integrating the displacement and rotation parameters of the FK controller and the spine IK controller; replace auxiliary controllers with geometry identifiers, and unify the management of constraint spline visualization through empty objects; The linkage effect of spinal flexion, neck rotation, and limb gait was tested, and model distortion was eliminated by applying an interpolation algorithm to the neck joint to adjust the bending attenuation strength; and applying the same motion logic consistency check to the limb constraint system.

7. The method for generating three-dimensional animation of animal pathological motion states according to claim 1, characterized in that: Based on the target model skeleton constraint graph, the bones, muscles and motion features are parameterized by biomechanical pathological characteristics, and periodic gait animation is generated using keyframe interpolation and loop modifiers. The root controller displacement curve is adjusted to eliminate sliding, and a three-dimensional animation of the target pathological motion is generated, including: Cyclic gait construction: Set the hind leg motion cycle, reset the joint rotation controller to zero at the touchdown time point (t0, t0+T), and adjust the foot end tilt angle at the lift-off time point (t0+T / 2, t0+3T / 4); apply linear interpolation to the touchdown motion curve, copy the keyframes to form a closed loop cycle, and add a cyclic motion modifier; offset the phase of the front leg keyframe by T / 2, set linear interpolation at the touchdown time point t0+T / 4, and adjust the stride by scaling the Y-axis displacement curve; Spinal motion synchronization: Mark the lowest position of the spine at the time when the hind leg touches the ground, and copy the keyframes at a period of T to generate the undulating movement of the spine; adjust the X-axis rotation curve to control the highest point of the spine, and add a loop modifier to synchronize the Z-axis displacement with the X-axis rotation curve; Global motion optimization: Map the limb touchdown keyframe to the root controller's Y-axis displacement curve, and reverse the curve direction to move the model forward; detect and eliminate motion slippage: verify the continuity of the Y-axis velocity curve and correct the slope of the linear segment at the touchdown time point; copy the Y-axis curve of the dominant leg to the contralateral leg and apply a T / 4 phase offset to eliminate displacement deviation; fine-tune the scapula rotation curve and limb scaling parameters, and ensure no slippage and natural gait through motion continuity verification.

8. A device for generating three-dimensional animation of animal pathological motion, characterized in that: The device comprises: The model topology module is configured to generate the target body structure from the basic geometry in the 3D modeling software based on anatomical data, and use multiple tools to collaboratively refine muscle lines and body surface contours, and control edge flow through masks and topological poles to obtain the target model topology map; a model constraint module configured to generate hair features based on the target model topology through a particle system, use IK / FK hybrid control to bind the skeleton, set motion constraints for the spine, neck, and limbs, and obtain a target model skeleton constraint graph; The animation generation module is configured to drive the bones, muscles and motion characteristics based on the target model skeleton constraint graph through biomechanical pathological feature parameterization, generate periodic gait animation using keyframe interpolation and loop modifier, adjust the root controller displacement curve to eliminate sliding, and generate a three-dimensional animation of the target pathological motion.

9. An electronic device, characterized in that: include: a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method for generating a three-dimensional animation of an animal's pathological motion state according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method for generating a three-dimensional animation of an animal's pathological motion state according to any one of claims 1 to 7.

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