A rotary levitation interaction system and method for virtual reality simulation shooting

Abstract

The application discloses a rotary type suspension interaction system and method for virtual reality simulation shooting, and belongs to the field of virtual reality, and specifically comprises the following steps: completing device pairing and platform calibration, and enabling a player to log in through identity authentication and acquire initial information; a client renders a 3D game world according to server scene data, a dynamic platform constructs an immersive interactive space in combination with special effects and spatial audio, and simultaneously synchronizes player state and action information through a network module; the player simulates aiming through a suspension hand action, Leap Motion collects hand data and maps the hand data into game instructions, and then uploads the game instructions to a server, the server updates a game state after performing collision detection and damage calculation; the client redraws a picture according to the updated state, and the platform synchronously executes physical feedback; after the game ends, the system generates settlement information for the player and releases and resets device resources; the application improves the interactive immersion and real-time performance of virtual reality games, and is suitable for a multiplayer online interactive game scene.

Description

Technical Field

[0001] This invention belongs to the field of virtual reality technology, specifically a rotating suspended interactive system and method for virtual reality simulated shooting. Background Technology

[0002] In traditional multiplayer shooting games, keyboards and mice have always been the mainstream control devices. Players control their characters' movement, jumping, crouching, and other actions through key combinations, and use the mouse to control the view and aim. This control method can meet the basic needs of the game to a certain extent, but it has many limitations. On the one hand, the complex key combinations require players to spend a lot of time memorizing and practicing, making it difficult for new players to get started. For example, in urgent combat, players may be unable to make timely dodge or counterattack actions due to misremembering the keys. On the other hand, mouse and keyboard operations are relatively stiff and cannot accurately simulate the natural movements of the human body in real life. In simulated shooting scenarios, players cannot hold, aim, and fire as naturally as they would in real life, making it difficult to fully immerse themselves in the game situation, greatly reducing the sense of immersion. Moreover, traditional control methods are also insufficient in terms of multiplayer cooperation, with players relying more on voice communication to achieve tacit cooperation through intuitive actions. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention proposes a rotating, suspended interactive system and method for virtual reality simulated shooting. The system completes device pairing and platform calibration, allowing players to log in and obtain initial information through authentication. The client renders a 3D game world based on server scene data, while a motion platform combines special effects and spatial audio to construct an immersive interactive space. Simultaneously, a network module synchronizes player status and movement information. Players simulate aiming through suspended hand movements; LeapMotion collects hand data, maps it to game commands, and uploads it to the server. The server performs collision detection and damage calculation, then updates the game status. The client redraws the graphics based on the updated status, and the platform synchronously provides physical feedback. After the game ends, the system generates settlement information for the player and releases and resets device resources. This enhances the interactive immersion and real-time performance of virtual reality games, making it suitable for multiplayer online interactive game scenarios.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A rotating, suspended interaction method for virtual reality simulated shooting, comprising:

[0006] Power on the Leap Motion device and pair it with the game client to synchronously activate the multi-DOF motion platform and complete the initial calibration.

[0007] The server verifies the player's identity and obtains initial game data, then generates 3D game graphics based on scene information;

[0008] Leap Motion collects real-time data on the player's suspended hand movements and maps hand rotation to game view rotation commands, and hand movement to character movement or weapon aiming commands.

[0009] Upload game view rotation commands, character movement commands, or weapon aiming commands to the server, and update the game status after performing collision detection and damage calculation;

[0010] The game screen is redrawn based on the updated game state, and the multi-degree-of-freedom motion platform synchronously analyzes the updated game state data and executes physical feedback; the physical feedback includes triggering multi-degree-of-freedom actions such as displacement, vibration, and tilt.

[0011] When the game ends, player settlement information is generated and stored, and at the same time, a device reset operation is performed.

[0012] Specifically, the initial calibration process includes:

[0013] The initial horizontal tilt angle is detected by the built-in gyroscope of the multi-degree-of-freedom motion platform;

[0014] The hydraulic actuator built into the multi-degree-of-freedom motion platform performs three closed-loop position self-checks.

[0015] Establish a mapping table between the displacement coordinate system of the multi-degree-of-freedom motion platform and the coordinates of the virtual scene.

[0016] Specifically, during the process of generating 3D game screens based on scene information, the multi-degree-of-freedom motion platform triggers physical feedback in real time according to the scene data transmitted from the server. Combined with the special effects system and spatial audio system, it constructs a multimodal immersive game interactive space. At the same time, it receives player action information sent by the server and presents it synchronously with the multi-degree-of-freedom motion platform.

[0017] Specifically, the hand rotation motion mapping includes:

[0018] Establish a transformation matrix between the hand coordinate system and the game view coordinate system. When the hand rotates around the Z-axis, a horizontal rotation command is generated, and when it rotates around the X-axis, a pitch command is generated.

[0019] Specifically, the hand movement mapping includes:

[0020] Establish a spherical coordinate system with the wrist joint as the origin. When the radial movement distance of the hand is greater than 10 cm, the character displacement command is triggered. When the radial movement distance of the hand is less than 5 cm and the speed is greater than 30 cm per second, the weapon aiming fine-tuning command is triggered.

[0021] Specifically, the collision detection employs a layered decision-making rule;

[0022] The layering determination rule includes first performing bounding box detection of weapon rays and scene objects, and then performing skeletal key point penetration detection on the hit target.

[0023] Specifically, the triggering conditions for the physical feedback include:

[0024] The multi-degree-of-freedom motion platform triggers vibration feedback of corresponding intensity based on weapon recoil data;

[0025] The multi-degree-of-freedom motion platform triggers tilt feedback at the corresponding angle based on the character's fall height data;

[0026] The displacement acceleration of a multi-degree-of-freedom motion platform is positively correlated with the vehicle's motion speed.

[0027] Specifically, the device reset operation includes:

[0028] Disconnect the USB data channel of the Leap Motion device;

[0029] Send PWM zero-reset control signal to the multi-degree-of-freedom motion platform;

[0030] The hydraulic strut retracts to the safe locking position.

[0031] A rotating, suspended interactive system for virtual reality simulated shooting includes: a device management module, a player management module, a motion capture module, a network communication module, a game state management module, and a multimodal feedback module;

[0032] The device management module is used to uniformly manage the startup, connection, initialization, calibration, and shutdown of all peripheral hardware devices; the peripheral hardware devices include Leap Motion and motion platform;

[0033] The player management module is used to handle player identity authentication, information storage, updates, and personal data management related to game progress;

[0034] The motion capture module is used to collect player hand motion data through the Leap Motion device, parse it, and convert it into effective game control commands;

[0035] The network communication module is used to establish and maintain the network connection between the client and the game server;

[0036] The game state management module is used to execute the core game logic and maintain and update the real-time state of all players and the scene; the core game logic includes rules, physics, collision, damage, and settlement.

[0037] The multimodal feedback module is used to provide players with multi-sensory immersive feedback, including visual, physical motion, and auditory feedback, on the client side based on the game state updated by the server and local events.

[0038] Specifically, the game state management module includes: a rule execution unit, a collision detection unit, a damage calculation unit, and a settlement processing unit;

[0039] The rule execution unit is used to execute the game rules;

[0040] The collision detection unit is used to detect and simulate collisions between game objects; the game objects include characters, bullets, and scene elements.

[0041] The damage calculation unit is used to calculate the damage value based on the collision detection results, weapon attributes, and player attributes, and update the player's game status.

[0042] The settlement processing unit is used to generate final settlement information when the game end conditions are met, and to transmit the settlement information to the player management module for data storage and updating.

[0043] Compared with the prior art, the beneficial effects of the present invention are:

[0044] 1. This invention proposes a rotating, suspended interactive system for virtual reality simulated shooting. Through a network module, it achieves efficient data transmission and synchronization between the client and server, enabling not only the uploading of player commands but also the real-time reception and presentation of other players' actions, promoting dynamic perception among players and enhancing the multiplayer interactive experience. The server-side game state management module performs collision detection, damage calculation, and state updates, ensuring the accuracy and smoothness of the game logic. After the game ends, a complete settlement, storage, and device reset process ensures stable system operation, providing players with a consistent and high-quality gaming service and promoting the development of virtual reality game interaction technology.

[0045] 2. This invention proposes a rotating, suspended interaction method for virtual reality simulated shooting. It uses a LeapMotion device to collect the player's suspended hand movements and precisely maps them to in-game commands such as viewpoint rotation and character movement, breaking through traditional input limitations and achieving natural and intuitive human-computer interaction. Combined with the displacement, vibration, and tilt feedback of a multi-degree-of-freedom motion platform, along with special effects and a spatial audio system, it constructs a multimodal immersive experience, allowing players to deeply integrate into the game world and greatly enhancing the realism and immersion of the interaction. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of a rotating, suspended interactive method for virtual reality simulated shooting according to the present invention;

[0047] Figure 2This is a flowchart illustrating the principle of a rotating, suspended interactive method for virtual reality simulated shooting according to the present invention.

[0048] Figure 3 Diagram of Leap Motion device;

[0049] Figure 4 This is a diagram illustrating the architecture of a rotating, suspended interactive system for virtual reality simulated shooting, based on the present invention. Detailed Implementation

[0050] Example 1

[0051] Please see Figures 1-3 The present invention provides an embodiment of a rotating, suspended interactive method for virtual reality simulated shooting, the method comprising steps S1 to S6, including the following steps:

[0052] S1: Power on the Leap Motion device and pair it with the game client, synchronously activate the multi-DOF motion platform and complete the initial calibration;

[0053] It should be explained that the multi-degree-of-freedom dynamic platform in this invention is a rotating platform that can carry players and achieve 360-degree rotation. In simulated shooting scenarios, when players stand on the rotating platform, the platform can automatically rotate according to the requirements of the game scenario, allowing players to easily face virtual images in different directions and perceive the battlefield environment from all angles without complicated self-movement.

[0054] The initial calibration process includes:

[0055] A1: The initial horizontal tilt angle is detected by the built-in gyroscope of the multi-degree-of-freedom motion platform;

[0056] A2: Drive the hydraulic actuator built into the multi-degree-of-freedom motion platform to perform three position closed-loop self-checks;

[0057] A3: Establish a mapping table between the displacement coordinate system of the multi-degree-of-freedom motion platform and the coordinates of the virtual scene.

[0058] The Leap Motion system employs a core sensing module consisting of dual wide-angle, high-frame-rate grayscale infrared cameras and a four-LED array. Its optical system incorporates a narrow-band infrared filter, which can shield 97% of ambient light interference. Based on binocular stereo vision technology, it generates depth point cloud data through parallax calculation using dual cameras and optimizes computational efficiency by combining grayscale image feature matching. The system achieves full-degree-of-freedom tracking of the hand skeleton model at a sampling rate of 200Hz, with spatial positioning accuracy reaching the 0.01mm level and fingertip dynamic recognition error less than 0.1mm. The structured light field formed by the infrared LED array covers an inverted quadrangular pyramid space, i.e., a 140°×120° field of view, ensuring sub-millimeter-level tracking stability within a working distance of 10-80cm.

[0059] Meanwhile, Leap Motion employs an inverted quadrangular pyramid-shaped tracking area, featuring a 140° horizontal field of view and a 120° vertical field of view, with an effective interaction depth of 10-60cm and a maximum of 80cm. When a hand enters the recognition area, the device automatically activates the tracking system, outputting a dynamic information stream at a rate of 200 frames per second, containing three-dimensional spatial data such as hand skeletal joint coordinates, finger posture, tool position, gesture shape, and motion vectors. Through biomimetic joint motion model analysis, it can achieve real-time tracking of hand movements with millimeter-level precision and a response latency of less than 20ms. The motion vectors include displacement, velocity, direction, and rotation angle.

[0060] Furthermore, powering on the Leap Motion device and pairing it with the game client includes:

[0061] (1) When a Leap Motion device starts up, it generates an RSA key pair, in which the device ID serves as a unique identifier;

[0062] (2) Connect to the specified port of the game client via TCP protocol and send a pairing request containing the device ID and public key. At the same time, receive the client's response and public key to verify the client's identity and pairing status.

[0063] (3) After receiving the pairing request, the client generates a symmetric session key, encrypts the session key using the client's public key, and finally sends the encrypted session key and authentication token.

[0064] Furthermore, in A1, the initial horizontal tilt angle is detected using the built-in gyroscope of the multi-degree-of-freedom motion platform to generate calibration reference parameters, specifically including:

[0065] (1) Activate the built-in gyroscope and accelerometer of the multi-degree-of-freedom motion platform;

[0066] (2) Collect three-axis tilt angle data of the multi-degree-of-freedom motion platform in a static state, including pitch angle, roll angle and yaw angle;

[0067] (3) Calculate the initial horizontal tilt angle deviation based on the gravity vector and generate calibration reference parameters.

[0068] Furthermore, the specific steps for performing three position closed-loop self-checks in A2 include:

[0069] (1) First test: Perform a ±15° tilting test along the X-axis; the X-axis is the front-to-back direction.

[0070] Second test: Perform a ±10° tilt angle swing test along the Y-axis; the Y-axis refers to the left and right direction.

[0071] Third: Perform a ±5cm displacement test along the Z-axis; the Z-axis is the vertical direction.

[0072] (2) Record each test record, including the deviation between the actual displacement curve and the preset curve, the adaptive adjustment process of the PID controller parameters, and the hydraulic system pressure fluctuation data.

[0073] Furthermore, the process of establishing the coordinate mapping table in A3 includes:

[0074] (1) Create a 3D calibration mesh in the virtual scene;

[0075] (2) Drive the multi-degree-of-freedom motion platform to perform 25 feature point position actions. The 25 feature points are evenly distributed in the ±45° tilt angle space range, and the Leap Motion spatial coordinates and platform encoder data are collected for each position point.

[0076] (3) The coordinate transformation matrix is ​​fitted using the least squares method. The least squares method is a prior art in this field and is not an inventive solution of this application. It will not be described in detail here.

[0077] (4) Calculate the mapping error matrix and iteratively optimize the transformation parameters.

[0078] S2: The server verifies the player's identity and obtains initial game data, then generates 3D game graphics based on scene information;

[0079] During the process of generating 3D game graphics based on scene information, the multi-degree-of-freedom motion platform triggers physical feedback in real time according to the scene data transmitted from the server. Combined with the special effects system and spatial audio system, it constructs a multimodal immersive game interactive space. At the same time, it receives player action information sent by the server and presents it synchronously with the multi-degree-of-freedom motion platform.

[0080] Furthermore, during the process of generating 3D game visuals based on scene information, the multi-degree-of-freedom motion platform triggers physical feedback in real time according to scene data transmitted from the server. Combined with the special effects system and spatial audio system, it constructs a multimodal immersive game interactive space. Simultaneously, it receives player action information sent from the server and presents it synchronously with the multi-degree-of-freedom motion platform, including:

[0081] (1) The client receives the scene data packet transmitted by the server and parses it into a format that the rendering engine can recognize through JSON or / Protobuf protocol. The scene data packet contains terrain mesh, object coordinates, and lighting parameters.

[0082] (2) Using the Unity / Unreal Engine's rendering pipeline, generate 3D visuals based on the parsed scene data, including:

[0083] Load terrain height maps and textures to generate interactive terrain;

[0084] The rendering performance of distant objects is optimized by using layer detail technology. However, layer detail technology is existing technology in this field and is not an inventive solution of this application, so it will not be described in detail here.

[0085] Apply physically based rendering materials to simulate realistic lighting and shadow effects;

[0086] (3) Establish mapping rules between scene elements and motion platform actions, including:

[0087] Terrain slope: Calculate the platform's pitch or roll angle based on the terrain's inclination at the player's location. If the slope is greater than 15°, the platform will tilt.

[0088] Object collision: When a player character collides with a wall, the platform vibrates momentarily;

[0089] Vehicle movement: Vehicle movement speed is converted into platform displacement speed, where a vehicle movement speed of 10 m / s corresponds to a platform displacement speed of 0.1 m / s.

[0090] (4) The server sends an event command, the client triggers particle effects, and synchronously drives the platform to perform pulse vibration. At the same time, when the player enters the zero gravity area, the platform turns off displacement drive and only retains slight random vibration to simulate the feeling of floating.

[0091] (5) Three-dimensional audio is generated using Ambisonics technology and the audio parameters are updated in real time to achieve head tracking audio. Ambisonics technology is existing technology in this field and is not an inventive solution of this application. It will not be described in detail here.

[0092] (6) After a player logs in, the client sends an initial state packet to the server and receives player action data forwarded by the server through the location synchronization and action-driven platform. The server also updates the global game state through the state synchronization algorithm.

[0093] S3: Real-time acquisition of player's suspended hand movements via Leap Motion, mapping hand rotation to game view rotation commands, and hand movement to character movement or weapon aiming commands;

[0094] It should be noted that in this invention, players can intuitively control the aiming direction of the game character by moving and rotating their hands in space, making their line of sight and the game character one. When the player's hand makes a slight trigger-pulling motion, the system will immediately recognize it as a shooting command, and the game character will instantly fire. Moreover, the system can also subtly simulate different shooting effects based on the force and speed of the player's hand movements. If the player pulls the trigger lightly with a light force and a slow speed, the system recognizes it as a single-shot mode, and the game character accurately fires a single bullet. If the player pulls the trigger quickly and continuously with a greater force and a faster speed, the system recognizes it as a burst or single-shot mode, and the game character fires bullets continuously according to the command, enriching the diversity of shooting operations.

[0095] Furthermore, Leap Motion collects real-time data on the player's suspended hand movements, including:

[0096] (1) Create a controller instance and register frame data callbacks using the Leap Motion SDK;

[0097] (2) Obtain hand data in frame data callback and extract the center position of the palm and normal vector;

[0098] (3) Define coordinate systems, including the Leap Motion coordinate system and the hand local coordinate system;

[0099] The Leap Motion coordinate system includes:

[0100] X-axis: horizontal to the right, with positive values ​​pointing to the right;

[0101] Y-axis: Vertically upward, with positive values ​​pointing upwards;

[0102] Z-axis: Depth direction, positive values ​​point away from the device;

[0103] The local coordinate system for the hand includes:

[0104] Origin point: the center of the palm;

[0105] X-axis: from the center of the palm towards the little finger;

[0106] Y-axis: Direction of the palm normal;

[0107] Z-axis: Direction of finger pointing.

[0108] The hand rotation motion mapping includes:

[0109] Establish a transformation matrix between the hand coordinate system and the game view coordinate system. When the hand rotates around the Z-axis, a horizontal rotation command is generated, and when it rotates around the X-axis, a pitch command is generated.

[0110] Furthermore, a transformation matrix is ​​established between the hand coordinate system and the game view coordinate system. When the hand rotates around the Z-axis, a horizontal rotation command is generated, and when it rotates around the X-axis, a pitch command is generated, including:

[0111] (1) After entering the game, the system prompts the player to place their palm flat on a horizontal surface and remain still for 3 seconds;

[0112] (2) Call the Leap Motion SDK to obtain the current hand data and extract the palm center position, normal vector and finger direction vector;

[0113] (3) Based on the center position of the palm, the normal vector and the finger direction vector, construct the initial pose matrix and record the initial pose as a reference;

[0114] (4) Sample the reference attitude three times and take the average value to eliminate random errors;

[0115] (5) In the main game loop, 60 frames of hand data are acquired per second and low-pass filtered. Low-pass filtering is a prior art in this field and is not an inventive solution of this application. It will not be described in detail here.

[0116] (6) Construct the hand pose matrix for the current frame based on the acquired hand data of each frame;

[0117] (7) Calculate the rotation matrix by using the difference between the hand pose and the reference pose in the hand pose matrix of the current frame;

[0118] (8) Perform singular value decomposition on the rotation matrix and extract the rotation components to obtain the final rotation matrix; the extraction of rotation components is achieved by the .rotation attribute in matrix operations. The .rotation attribute is actually extracting the quaternion form representing the rotation from the matrix. Singular value decomposition is a prior art in this field and is not an inventive solution of this application, so it will not be described in detail here.

[0119] It needs to be explained that the extracted rotation components are based on matrices that have been processed by singular value decomposition to ensure orthogonality. From the perspective of matrices, the essence of extracting rotation components is to separate the part that only represents rotation from a matrix containing information on rotation, translation, and scaling, forming a pure rotation matrix. This process calculates rotation parameters, such as Euler angles and quaternions, using the elements of the matrix based on the mathematical properties of the matrix, and then obtains the final rotation matrix.

[0120] (9) Convert the final rotation matrix into quaternions, convert the quaternion rotation into Euler angles around the Z and X axes, and convert the angle changes into game view control commands. At the same time, prompt the player to perform a quick calibration every 5 minutes. If abnormal hand data is detected for 10 consecutive frames, automatic recalibration is triggered. The process of decomposing quaternions into Euler angles is implemented through the eulerAngles function.

[0121] The hand movement motion mapping includes:

[0122] Establish a spherical coordinate system with the wrist joint as the origin. When the radial movement distance of the hand is greater than 10 cm, the character displacement command is triggered. When the radial movement distance of the hand is less than 5 cm and the speed is greater than 30 cm per second, the weapon aiming fine-tuning command is triggered.

[0123] Furthermore, a spherical coordinate system is established with the wrist joint as the origin. When the radial movement distance of the hand is greater than 10 centimeters, a character displacement command is triggered. When the movement distance is less than 5 centimeters and the speed is greater than 30 centimeters per second, a weapon aiming fine-tuning command is triggered, including:

[0124] (1) Establish a three-dimensional spherical coordinate system with the wrist joint as the origin, including:

[0125] Radial distance: the straight-line distance from the hand to the wrist, achieved using Euclidean distance;

[0126] Azimuth: The angle between the horizontal projection and the X-axis, achieved through the arctangent function;

[0127] Pitch angle: The angle with the horizontal plane, achieved through the inverse cosine function;

[0128] (2) Set command triggering rules; the command triggering rules include:

[0129] If the radial movement distance of the hand is greater than 10 centimeters, the character displacement command will be triggered;

[0130] If the radial movement distance of the hand is less than 5 cm and the speed is greater than 30 cm per second, the weapon aiming fine-tuning command is triggered;

[0131] (3) Perform wrist origin positioning and three-dimensional spherical coordinate system initialization;

[0132] (4) Calculate the radial movement distance of the hand in real time;

[0133] (5) Determine the type of instruction triggered based on the radial movement distance of the hand and the instruction triggering rules.

[0134] S4: Upload game view rotation commands, character movement commands, or weapon aiming commands to the server, and update the game status after performing collision detection and damage calculation;

[0135] The collision detection adopts a layered judgment rule; the layered judgment rule includes: first, performing bounding box detection of weapon rays and scene objects, and then performing skeletal key point penetration detection on the hit target.

[0136] Furthermore, the specific steps of S4 include:

[0137] (1) Obtain game view rotation commands, character movement commands, or weapon aiming commands, serialize the commands via WebSocket, generate command data packets, and encrypt and upload them to the server;

[0138] WebSocket is a protocol that enables full-duplex communication over a single TCP connection, allowing real-time, bidirectional data transmission between clients and servers, overcoming the limitations of the traditional HTTP request-response model.

[0139] (2) Receive the instruction data packet uploaded by the client, verify the legality of the instruction data packet, and then parse the instruction type;

[0140] (3) Generate rays based on the player's perspective and weapon parameters;

[0141] It should be noted that the ray is an infinitely long virtual straight line that extends from the player's perspective or the weapon's firing point along the aiming direction. By detecting the intersection of the ray with the scene objects, the target can be determined. The parameters of the player's perspective include the camera position and rotation direction, and the parameters of the weapon's firing point include: (1) muzzle position: the starting point of the ray; (2) aiming offset, such as the difference in direction between hip-fire and aiming with a scope; (3) ray length: limiting the detection range.

[0142] Furthermore, rays are generated based on the player's perspective and weapon parameters, including:

[0143] a. Obtain the camera's world coordinates and camera orientation, where the camera orientation is a quaternion;

[0144] b. Obtain the screen center point using Screen.width / 2 and Screen.height / 2;

[0145] c. If the weapon has a physical model, the ray origin is the muzzle position, and it is converted to world coordinates via Transform.TransformPoint;

[0146] d. Generate the direction of the ray emitted from the center point of the screen using Camera.ScreenPointToRay;

[0147] e. If an aiming mode is available, such as scoped in, then use the rotation angle of the weapon scope to correct the direction;

[0148] f. Create a Ray structure, including the starting point and direction, and generate the ray.

[0149] It should be noted that Screen.width / 2, Screen.height / 2, Transform.TransformPoint, and Camera.ScreenPointToRay are built-in properties in Unity engine scripts.

[0150] (4) Create axis-aligned bounding boxes for all static scene objects and dynamic objects. Static scene objects include walls and obstacles, and dynamic objects include vehicles and NPCs. The axis-aligned bounding boxes are existing technology in this field and are not an inventive solution of this application. They will not be described in detail here.

[0151] (5) Use the Slab method to quickly filter the axis-aligned bounding boxes that intersect with the ray to obtain the hit axis-aligned bounding boxes. The Slab method is the prior art in this field and is not an inventive solution of this application. It will not be described in detail here.

[0152] (6) Create a skeletal hierarchy for the character model and define colliders for key parts, including the head, chest and limbs, and colliders including capsules or spheres.

[0153] (7) When the ray hits the bounding box of the object, the intersection of the ray and the skeleton collider is detected on the character model whose hit axis is aligned with the bounding box.

[0154] (8) Based on the weapon's penetrating power and the protection value of the skeletal parts, determine whether penetration has occurred and obtain the penetration probability;

[0155] The penetration probability is calculated by taking the difference between the weapon's penetration power and the protection value of the bone as the first variable, then dividing the first variable by the maximum value of the weapon's penetration power to obtain the second variable, and finally restricting the second variable to the range [0, 1] by the range restriction function Clamp(·), where 0 represents no penetration and 1 represents guaranteed penetration.

[0156] (9) Calculate the damage multiplier for the affected area based on the penetration probability and the area type;

[0157] Furthermore, based on the penetration probability and body part type, the body part damage multiplier is calculated, including:

[0158] a. Set the base damage multiplier and penetration damage bonus. The base damage multiplier is the default damage multiplier for each body part. For example, set the head multiplier to 2x and the limbs multiplier to 0.8x. The penetration damage bonus is the additional multiplier bonus when penetration is successful.

[0159] b. If the penetration probability is greater than or equal to a preset random value in the range [0, 1], the penetration is successful; otherwise, it fails.

[0160] c. If penetration is successful, the damage multiplier for the affected part is obtained by multiplying the sum of the penetration damage bonus and 1 by the base damage multiplier.

[0161] d. If penetration fails, the damage multiplier of the affected area is obtained by calculating the product of the base damage multiplier and the penetration attenuation coefficient. In this invention, the penetration attenuation coefficient is selected as 0.5, which means that the damage is halved.

[0162] (10) Update the target character's health and status according to the damage multiplier of the body part, and record the battle log.

[0163] S5: Redraw the game screen according to the updated game state, and the multi-degree-of-freedom motion platform synchronously analyzes the updated game state data and executes physical feedback; the physical feedback includes triggering multi-degree-of-freedom actions such as displacement, vibration, and tilt.

[0164] The triggering conditions for the physical feedback include:

[0165] B1: The multi-degree-of-freedom motion platform triggers vibration feedback of corresponding intensity based on weapon recoil data;

[0166] It should be noted that when a player uses a weapon, the weapon's recoil, such as the recoil force when a gun is fired, will be converted into vibration feedback on the platform. The greater the recoil, the higher the amplitude and frequency of the platform's vibration. In this invention, physical vibration allows the player to feel the impact of the weapon being fired, enhancing the realism of the operation.

[0167] B2: The multi-degree-of-freedom motion platform triggers tilt feedback at the corresponding angle based on the character's fall height data;

[0168] It should be explained that when a character falls from a height, the platform tilts according to the height of the fall to simulate the inertia of the impact. The higher the fall, the greater the angle of the platform tilt at the moment of impact. For example, the inertia of the body leaning forward when jumping from a height in reality. In this invention, tilt feedback allows players to intuitively feel the impact of the fall, avoiding reliance on visual effects alone.

[0169] B3: The displacement acceleration of the multi-degree-of-freedom motion platform is positively correlated with the vehicle's motion speed.

[0170] It is important to emphasize that when a player is driving a vehicle, the platform's displacement acceleration, i.e., the rate of acceleration or deceleration, is directly proportional to the vehicle's speed. The faster the vehicle moves, the greater the acceleration of the multi-degree-of-freedom motion platform as it moves forward, simulating a push-back feeling. When the vehicle decelerates or turns, the displacement direction and acceleration of the multi-degree-of-freedom motion platform also change synchronously. In this invention, linear motion feedback, including forward and backward or left and right displacement, simulates the dynamics of the vehicle, enhancing the driving immersion.

[0171] S6: When the game ends, generate and store the player's settlement information, and simultaneously perform a device reset operation.

[0172] The game ends when one player's health reaches zero or the game time expires; player settlement information includes battle record, experience points, rewards, and equipment changes.

[0173] The device reset operation includes:

[0174] C1: Disconnect the USB data channel of the Leap Motion device;

[0175] C2: Sends a PWM zero-reset control signal to the multi-degree-of-freedom motion platform;

[0176] Pulse Width Modulation (PWM) is a technique for controlling devices by adjusting the duty cycle of a pulse signal. At a fixed frequency, by changing the duration of the high-level pulse (i.e., the pulse width), different average voltages or powers are output, thus achieving precise control of the device. PWM zeroing refers to setting the duty cycle of the PWM signal to 0%, meaning the output signal is always low. For devices controlled by PWM signals, zeroing will cause the device to stop moving or return to its initial position. In this invention, the purpose of sending the PWM zeroing control signal is: (1) to stop the motor driving the platform, preventing the multi-degree-of-freedom motion platform from being in an unsafe state; (2) to restore the control parameters of the multi-degree-of-freedom motion platform to their default values, such as zeroing the angle and displacement.

[0177] C3: The hydraulic strut retracts to the safe locking position.

[0178] Example 2

[0179] Please see Figure 4 Another embodiment of the present invention provides: a rotating suspended interactive system for virtual reality simulated shooting, comprising:

[0180] Device management module, player management module, motion capture module, network communication module, game status management module, multimodal feedback module;

[0181] The device management module is used to uniformly manage the startup, connection, initialization, calibration, and shutdown of all peripheral hardware devices, including Leap Motion and motion platforms.

[0182] The player management module is used to handle player identity authentication, information storage, updates, and personal data management related to game progress. It is mainly implemented on the server side, while the client is responsible for sending initial login information.

[0183] Furthermore, the player management module provides comprehensive and unified management for all online players. From the initial registration of personal information to the rigorous verification process each time a player logs in, and the real-time storage and updating of player levels, battle records, equipment, and other information during gameplay, the player management module operates systematically to ensure the security and accuracy of each player's identity and data in the game.

[0184] The motion capture module is used to collect player hand motion data through the Leap Motion device, parse it, and convert it into effective game control commands;

[0185] The network communication module is used to establish and maintain the network connection between the client and the game server, and is responsible for the reliable transmission and synchronization of bidirectional data.

[0186] Furthermore, the network communication module plays a crucial role in information transmission throughout the game interaction process, much like the nervous system of the human body. On the one hand, it actively uploads the operation data of local players, allowing the server to know the players' dynamics in a timely manner; on the other hand, it quickly receives the actions of other players sent by the server, and through efficient network algorithms, it minimizes data transmission latency, ensuring the real-time performance and consistency of the game in a multiplayer environment, allowing players to experience a smooth and continuous gaming experience.

[0187] The game state management module is used to execute the core game logic, including rules, physics, collision, damage, and settlement, and to maintain and update the real-time state of all players and the scene.

[0188] Furthermore, from the initial preparation phase of the game to the intense competition after it officially begins, and even the possible pauses and final endings, the game state management module precisely controls everything. At the same time, during player-versus-player combat, it also undertakes complex coordination tasks, such as accurate collision detection to determine the collision situation between players and the environment, and between players; and scientific damage calculation, which accurately calculates damage values ​​based on factors such as weapon type, attack location, and defensive equipment, ensuring the fairness and competitiveness of the game.

[0189] The multimodal feedback module is used to provide players with multi-sensory immersive feedback, including visual, physical motion, and auditory feedback, on the client side based on the game state updated by the server and local events.

[0190] The device management module includes: a device connection unit and an initialization calibration unit;

[0191] The device connection unit is used to establish a connection with the Leap Motion device and start it up, as well as to start, initialize, and calibrate the multi-degree-of-freedom motion platform. At the end of the game, it is responsible for shutting down the Leap Motion device, resetting, and turning off the motion platform power.

[0192] The initialization calibration unit is used to perform the initial calibration procedure of the multi-degree-of-freedom motion platform to ensure the accuracy and safety of its physical feedback.

[0193] The player management module includes: identity unit, data management unit, and status initialization unit;

[0194] The identity unit is used to collect and verify player identity information to complete the login process;

[0195] The data management unit is used to read the player's initial information from the database when the player logs in, and to receive, store and update the player's settlement information after the game ends. The initial information includes level, equipment and progress, while the player's settlement information includes battle record, experience points, rewards and equipment changes.

[0196] The state initialization unit is used to pass the acquired player initial information to the game state management module as the basis for the initial state of the game.

[0197] The motion capture module includes: a data acquisition unit, a processing and filtering unit, and a command mapping unit;

[0198] The data acquisition unit is used to acquire raw hand motion data in real time through the Leap Motion device interface, including joint position, rotation angle, movement amplitude, and speed.

[0199] The processing and filtering unit is used to preprocess the raw hand motion data to improve the stability and accuracy of the data;

[0200] The instruction mapping unit is used to parse and map the preprocessed hand motion data into game control instructions according to preset rules, and generate an operation instruction data packet.

[0201] The network communication module includes: a connection management unit and a data transmission unit;

[0202] The connection management unit is used to establish and maintain network connections between the client and the server. It establishes connections before the game starts and terminates and disconnects connections when the game ends.

[0203] The data transmission unit is used to upload game control commands and player initial state data generated by the motion capture module to the server, and to receive game state update data packets sent by the server, including the player's own state update and other players' actions or state information. At the same time, it broadcasts the processed game state update to all relevant clients and receives operation commands and initial state information uploaded by the clients.

[0204] The game state management module includes: a rule execution unit, a collision detection unit, a damage calculation unit, and a settlement processing unit;

[0205] The rule execution unit is used to execute game rules and maintain global states such as game timers;

[0206] The collision detection unit is used to detect and simulate collisions between game objects, including characters, bullets, and scene elements.

[0207] The damage calculation unit is used to calculate damage values ​​based on collision detection results, weapon attributes, and player attributes, and to update the player's game status.

[0208] The settlement processing unit is used to generate final settlement information when the game ends, such as when one side's health reaches zero or time expires, and then transmits the settlement information to the player management module for data storage and updating.

[0209] The multimodal feedback module includes: a visual rendering unit, a physical feedback unit, and a spatial audio unit;

[0210] The visual rendering unit is used to render a 3D game world on the screen in real time based on the scene information sent by the server and the game status data updated in real time, including scene and character model movement changes, weapon shooting / explosion effects, target player status changes, and UI interface.

[0211] The physics feedback unit is used to analyze the information related to physics feedback in the game status data packets returned by the server in real time, such as being hit by a bullet, explosion, vehicle movement, and scene changes. According to the preset mapping rules, it generates and executes specific action instructions for the multi-degree-of-freedom motion platform, such as displacement, vibration, tilt, and rotation, to provide a realistic physical sensation synchronized with game events.

[0212] Spatial audio units are used to combine game states to provide spatialized sound effects with a sense of direction and distance, including gunshots, footsteps, explosions, ambient sounds, and character voices, enhancing immersion.

[0213] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments under the guidance of the present invention without departing from the spirit and scope of the present invention. All of these variations are within the protection scope of the present invention.

[0214] If the technical solution disclosed herein involves personal information, the product using this technical solution has clearly informed the user of the personal information processing rules and obtained the user's voluntary consent before processing the personal information. If the technical solution disclosed herein involves sensitive personal information, the product using this technical solution has obtained the user's separate consent before processing the sensitive personal information, and also meets the requirement of "express consent". For example, at personal information collection devices such as cameras, clear and prominent signs are set up to inform users that they have entered the scope of personal information collection and that personal information will be collected. If an individual voluntarily enters the collection scope, it is deemed that they have agreed to the collection of their personal information; or on the personal information processing device, with clear signs / information informing users of the personal information processing rules, authorization is obtained from the individual through pop-up information or by asking the individual to upload their personal information; wherein, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the types of personal information processed.

Claims

1. A rotating, suspended interactive method for virtual reality simulated shooting, characterized in that, include: Power on the Leap Motion device and pair it with the game client to synchronously activate the multi-DOF motion platform and complete the initial calibration. The server verifies the player's identity and obtains initial game data, then generates 3D game graphics based on scene information; Leap Motion collects real-time data on the player's suspended hand movements and maps hand rotation to game view rotation commands, and hand movement to character movement or weapon aiming commands. Upload game view rotation commands, character movement commands, or weapon aiming commands to the server, and update the game status after performing collision detection and damage calculation; The game screen is redrawn based on the updated game state, and the multi-degree-of-freedom motion platform synchronously analyzes the updated game state data and executes physical feedback; the physical feedback includes triggering multi-degree-of-freedom actions such as displacement, vibration, and tilt. When the game ends, player settlement information is generated and stored, and at the same time, a device reset operation is performed. The initial calibration process includes: The initial horizontal tilt angle is detected by the built-in gyroscope of the multi-degree-of-freedom motion platform; The hydraulic actuator built into the multi-degree-of-freedom motion platform performs three closed-loop position self-checks. Establish a mapping table between the displacement coordinate system of the multi-degree-of-freedom motion platform and the coordinates of the virtual scene; During the process of generating 3D game screens based on scene information, the multi-degree-of-freedom motion platform triggers physical feedback in real time according to the scene data transmitted from the server. Combined with the special effects system and spatial audio system, it constructs a multimodal immersive game interactive space. At the same time, it receives player action information sent by the server and presents it synchronously with the multi-degree-of-freedom motion platform. The hand rotation motion mapping includes: Establish a transformation matrix between the hand coordinate system and the game view coordinate system. When the hand rotates around the Z-axis, a horizontal rotation command is generated, and when it rotates around the X-axis, a pitch command is generated. The hand movement motion mapping includes: Establish a spherical coordinate system with the wrist joint as the origin. When the radial movement distance of the hand is greater than 10 cm, the character displacement command is triggered. When the radial movement distance of the hand is less than 5 cm and the speed is greater than 30 cm per second, the weapon aiming fine-tuning command is triggered. The collision detection employs a layered judgment rule. The layering determination rule includes first performing bounding box detection of weapon rays and scene objects, and then performing skeletal key point penetration detection on the hit target. The process of uploading game view rotation commands, character movement commands, or weapon aiming commands to the server, and updating the game state after performing collision detection and damage calculation, includes: Obtain game view rotation commands, character movement commands, or weapon aiming commands, serialize the commands via WebSocket, generate command data packets, and encrypt and upload them to the server; Receive instruction data packets uploaded by the client, verify the validity of the instruction data packets, and parse the instruction type; Generate rays based on player perspective and weapon parameters: Obtain camera world coordinates and camera orientation, generate ray direction through the center point of the screen, if the weapon has a physical model, the muzzle position is used as the ray starting point, if there is an aiming mode, the direction is corrected by the rotation angle of the weapon scope. Create axis-aligned bounding boxes for all static and dynamic objects, and use the Slab method to quickly filter axis-aligned bounding boxes that intersect with the ray; Create a skeletal hierarchy for the character model and define colliders for key parts. When a ray hits the bounding box of an object, detect the intersection between the ray and the skeletal collider. The penetration probability is calculated based on the weapon's penetration power and the protection value of the skeletal parts. The damage multiplier for the affected parts is then calculated based on the penetration probability and the type of the affected part. Update the target character's health and status based on the damage multiplier for each body part, and record the battle log.

2. The rotating, suspended interactive method for virtual reality simulated shooting as described in claim 1, characterized in that, The triggering conditions for the physical feedback include: The multi-degree-of-freedom motion platform triggers vibration feedback of corresponding intensity based on weapon recoil data; The multi-degree-of-freedom motion platform triggers tilt feedback at the corresponding angle based on the character's fall height data; The displacement acceleration of a multi-degree-of-freedom motion platform is positively correlated with the vehicle's motion speed.

3. The rotating, suspended interactive method for virtual reality simulated shooting as described in claim 2, characterized in that, The device reset operation includes: Disconnect the USB data channel of the Leap Motion device; Send PWM zero-reset control signal to the multi-degree-of-freedom motion platform; The hydraulic strut retracts to the safe locking position.

4. A rotating, suspended interactive system for virtual reality simulated shooting, used to implement the rotating, suspended interactive method for virtual reality simulated shooting as described in any one of claims 1-3, characterized in that, include: Device management module, player management module, motion capture module, network communication module, game status management module, multimodal feedback module; The device management module is used to uniformly manage the startup, connection, initialization, calibration, and shutdown of all peripheral hardware devices; the peripheral hardware devices include Leap Motion and motion platform; The player management module is used to handle player identity authentication, information storage, updates, and personal data management related to game progress; The motion capture module is used to collect player hand motion data through the Leap Motion device, parse it, and convert it into effective game control commands; The network communication module is used to establish and maintain the network connection between the client and the game server; The game state management module is used to execute the core game logic and maintain and update the real-time state of all players and the scene; the core game logic includes rules, physics, collision, damage, and settlement. The multimodal feedback module is used to provide players with multi-sensory immersive feedback, including visual, physical motion, and auditory feedback, on the client side based on the game state updated by the server and local events.

5. A rotating, suspended interactive system for virtual reality simulated shooting as described in claim 4, characterized in that, The game state management module includes: a rule execution unit, a collision detection unit, a damage calculation unit, and a settlement processing unit; The rule execution unit is used to execute the game rules; The collision detection unit is used to detect and simulate collisions between game objects; the game objects include characters, bullets, and scene elements. The damage calculation unit is used to calculate the damage value based on the collision detection results, weapon attributes, and player attributes, and update the player's game status. The settlement processing unit is used to generate final settlement information when the game end conditions are met, and to transmit the settlement information to the player management module for data storage and updating.

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