Granted Patent B2

US 12,586,332 · App. 18/393,957 · Granted Mar 24, 2026

Inventors: Zexin Jiang (Beijing, CN); Haiyu Zhang (Beijing, CN)

Assignee: BEIJING ZITIAO NETWORK TECHNOLOGY CO., LTD.

G06T19/20G06T7/70G06T2219/2016

Abstract

Claims (55)

1 . A method for manipulating a virtual object, comprising:

determining a first position of a first manipulation device associated with a virtual environment and a second position of a second manipulation device associated with the virtual environment;

determining first orientation information based on the first position and the second position;

determining a rotation matrix associated with a virtual object rendered in the virtual environment based on the first orientation information and second orientation information of the first manipulation device; and

determining a pose of the virtual object in the virtual environment based on the rotation matrix.

2 . The method of claim 1 , wherein determining the first orientation information comprises:

based on the first position and the second position, determining a direction vector from the first position to the second position, as the first orientation information.

3 . The method of claim 2 , further comprising:

determining a forward vector of the first manipulation device as the second orientation information.

4 . The method of claim 3 , wherein determining a rotation matrix associated with a virtual object rendered in the virtual environment comprises:

performing orthogonalization processing on the direction vector and the forward vector to determine an orthogonalized direction vector and an orthogonalized forward vector; and

based on the orthogonalized direction vector and the orthogonalized forward vector, determining the rotation matrix.

5 . The method of claim 4 , wherein determining the rotation matrix comprises:

determining a cross product based on the orthogonalized direction vector and the orthogonalized forward vector; and

based on the orthogonalized direction vector, the orthogonalized forward vector and the cross product, determining the column vector of the rotation matrix respectively.

6 . The method of claim 5 , wherein a relative order of a first column vector corresponding to the orthogonalized direction vector, a second column vector corresponding to the orthogonalized forward vector and a third column vector corresponding to the cross product in the rotation matrix is determined based on a coordinate system of the virtual object.

7 . The method of claim 1 , wherein the virtual object is rendered in the virtual environment to be presented as being held by both hands.

8 . The method of claim 1 , further comprising:

receiving a predetermined interaction for the first manipulation device; and

triggering a virtual function associated with the virtual object in the virtual environment based on the predetermined interaction.

9 . An electronic device comprising:

at least one processing unit; and

at least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions, when executed by the at least one processing unit, causing the electronic device to perform a method comprising:

determining a first position of a first manipulation device associated with a virtual environment and a second position of a second manipulation device associated with the virtual environment;

determining first orientation information based on the first position and the second position;

determining a rotation matrix associated with a virtual object rendered in the virtual environment based on the first orientation information and second orientation information of the first manipulation device; and

determining a pose of the virtual object in the virtual environment based on the rotation matrix.

10 . The electronic device of claim 9 , wherein determining the first orientation information comprises:

based on the first position and the second position, determining a direction vector from the first position to the second position, as the first orientation information.

11 . The electronic device of claim 10 , further comprising:

determining a forward vector of the first manipulation device as the second orientation information.

12 . The electronic device of claim 11 , wherein determining a rotation matrix associated with a virtual object rendered in the virtual environment comprises:

performing orthogonalization processing on the direction vector and the forward vector to determine an orthogonalized direction vector and an orthogonalized forward vector; and

based on the orthogonalized direction vector and the orthogonalized forward vector, determining the rotation matrix.

13 . The electronic device of claim 12 , wherein determining the rotation matrix comprises:

determining a cross product based on the orthogonalized direction vector and the orthogonalized forward vector; and

based on the orthogonalized direction vector, the orthogonalized forward vector and the cross product, determining the column vector of the rotation matrix respectively.

14 . The electronic device of claim 13 , wherein a relative order of a first column vector corresponding to the orthogonalized direction vector, a second column vector corresponding to the orthogonalized forward vector and a third column vector corresponding to the cross product in the rotation matrix is determined based on a coordinate system of the virtual object.

15 . The electronic device of claim 9 , wherein the virtual object is rendered in the virtual environment to be presented as being held by both hands.

16 . The electronic device of claim 1 , further comprising:

receiving a predetermined interaction for the first manipulation device; and

triggering a virtual function associated with the virtual object in the virtual environment based on the predetermined interaction.

17 . A non-transitory computer readable storage medium having stored thereon a computer program executable by a processor to implement a method comprising:

determining a first position of a first manipulation device associated with a virtual environment and a second position of a second manipulation device associated with the virtual environment;

determining first orientation information based on the first position and the second position;

determining a rotation matrix associated with a virtual object rendered in the virtual environment based on the first orientation information and second orientation information of the first manipulation device; and

determining a pose of the virtual object in the virtual environment based on the rotation matrix.

18 . The non-transitory computer readable storage medium of claim 17 , further comprising:

determining a forward vector of the first manipulation device as the second orientation information.

19 . The non-transitory computer readable storage medium of claim 18 , wherein determining a rotation matrix associated with a virtual object rendered in the virtual environment comprises:

performing orthogonalization processing on the direction vector and the forward vector to determine an orthogonalized direction vector and an orthogonalized forward vector; and

based on the orthogonalized direction vector and the orthogonalized forward vector, determining the rotation matrix.

20 . The non-transitory computer readable storage medium of claim 19 , wherein determining the rotation matrix comprises:

determining a cross product based on the orthogonalized direction vector and the orthogonalized forward vector; and

based on the orthogonalized direction vector, the orthogonalized forward vector and the cross product, determining the column vector of the rotation matrix respectively.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (13)