Motion sketching for control of rigid-body simulations

ABSTRACT

Motion sketching is an approach for creating realistic rigid-body motion. In this approach, an animator sketches how objects should move and the system computes a physically plausible motion that best fits the sketch. The sketch is specified with a mouse-based interface or with hand-gestures, which move instrumented objects in the real world to act out the desired behaviors. The sketches may be imprecise, may be physically infeasible, or may have incorrect timing. A multiple-shooting optimization estimates the parameters of a rigid-body simulation needed to simulate an animation that matches the sketch with physically plausible timing and motion. This technique applies to physical simulations of multiple colliding rigid bodies possibly connected with joints in a tree (open-loop) topology.

REFERENCES

• 1: David Baraff, Dynamic simulation of nonpenetrating rigid bodies, Cornell University, Ithaca, NY, 1992
• 2: David Baraff, Fast contact force computation for nonpenetrating rigid bodies, Proceedings of the 21st annual conference on Computer graphics and interactive techniques, p.23-34, July 1994 [doi>10.1145/192161.192168]
• 3: Ronen Barzel, Physically-based modeling for computer graphics: a structured approach, Academic Press Professional, Inc., San Diego, CA, 1992
• 4: Ronen Barzel , Alan H. Barr, A modeling system based on dynamic constraints, Proceedings of the 15th annual conference on Computer graphics and interactive techniques, p.179-188, June 1988
• 5: Ronen Barzel , John F. Hughes , Daniel N. Wood, Plausible motion simulation for computer graphics animation, Proceedings of the Eurographics workshop on Computer animation and simulation '96, p.183-197, December 1996, Poitiers, France
• 6: Paul J. Besl , Neil D. McKay, A Method for Registration of 3-D Shapes, IEEE Transactions on Pattern Analysis and Machine Intelligence, v.14 n.2, p.239-256, February 1992 [doi>10.1109/34.121791 ]
• 7: Christian Bischof , Peyvand Khademi , Andrew Mauer , Alan Carle, Adifor 2.0: Automatic Differentiation of Fortran 77 Programs, IEEE Computational Science & Engineering, v.3 n.3, p.18-32, September 1996 [doi>10.1109/99.537089 ]
• 8: Bock, H. G. 1983. Recent advances in parameter identification techniques for ordinary differential equations. In Numerical Treatment of Inverse Problems in Differential and Integral Equations (Proceedings of an International Workshop, Heidelberg), P. Deuflhard and E. Hairer, Eds. Birkhäuser, Boston, MA, 95--121.
• 9: Lynne Shapiro Brotman , Arun N. Netravali, Motion interpolation by optimal control, Proceedings of the 15th annual conference on Computer graphics and interactive techniques, p.309-315, June 1988
• 10: Stephen Chenney , D. A. Forsyth, Sampling plausible solutions to multi-body constraint problems, Proceedings of the 27th annual conference on Computer graphics and interactive techniques, p.219-228, July 2000 [doi>10.1145/344779.344882]
• 11: Michael F. Cohen, Interactive spacetime control for animation, Proceedings of the 19th annual conference on Computer graphics and interactive techniques, p.293-302, July 1992
• 12: Gill, P. E., Murray, W., and Saunders, M. A. 1997. User's guide for SNOPT 5.3: A Fortran package for large-scale nonlinear programming. Tech. rep. NA 97--5, University of California, San Diego, San Diego, CA.
• 13: Gill, P. E., Murray, W., and Wright, M. H. 1989. Practical Optimization. Academic Press, London, U.K.
• 14: Michael Gleicher, Motion editing with spacetime constraints, Proceedings of the 1997 symposium on Interactive 3D graphics, p.139-ff., April 27-30, 1997, Providence, Rhode Island, United States [doi>10.1145/253284.253321]
• 15: Michael Gleicher, Retargetting motion to new characters, Proceedings of the 25th annual conference on Computer graphics and interactive techniques, p.33-42, July 1998 [doi>10.1145/280814.280820]
• 16: C. J. Goh , K. L. Teo, Control parametrization: a unified approach to optimal control problems with general constraints, Automatica (Journal of IFAC), v.24 n.1, p.3-18, Jan., 1988 [doi>10.1016/0005-1098(88)90003-9 ]
• 17: Griewank, A. and Corliss, G. 1991. Automatic Differentiation of Algorithms. SIAM, Philadelphia, PA.
• 18: Radek Grzeszczuk , Demetri Terzopoulos, Automated learning of muscle-actuated locomotion through control abstraction, Proceedings of the 22nd annual conference on Computer graphics and interactive techniques, p.63-70, September 1995 [doi>10.1145/218380.218411]
• 19: Radek Grzeszczuk , Demetri Terzopoulos , Geoffrey Hinton, NeuroAnimator: fast neural network emulation and control of physics-based models, Proceedings of the 25th annual conference on Computer graphics and interactive techniques, p.9-20, July 1998 [doi>10.1145/280814.280816]
• 20: Jessica K. Hodgins , Wayne L. Wooten , David C. Brogan , James F. O'Brien, Animating human athletics, Proceedings of the 22nd annual conference on Computer graphics and interactive techniques, p.71-78, September 1995 [doi>10.1145/218380.218414]
• 21: Paul M. Isaacs , Michael F. Cohen, Controlling dynamic simulation with kinematic constraints, Proceedings of the 14th annual conference on Computer graphics and interactive techniques, p.215-224, August 1987
• 22: Michael Kass, CONDOR: constraint-based dataflow, Proceedings of the 19th annual conference on Computer graphics and interactive techniques, p.321-330, July 1992
• 23: Zicheng Liu , Steven J. Gortler , Michael F. Cohen, Hierarchical spacetime control, Proceedings of the 21st annual conference on Computer graphics and interactive techniques, p.35-42, July 1994 [doi>10.1145/192161.192169]
• 24: Gavin S. P. Miller, The motion dynamics of snakes and worms, Proceedings of the 15th annual conference on Computer graphics and interactive techniques, p.169-173, June 1988
• 25: Brian Vincent Mirtich, Impulse-based dynamic simulation of rigid body systems, 1996
• 26: Matthew Moore , Jane Wilhelms, Collision detection and response for computer animationr3, Proceedings of the 15th annual conference on Computer graphics and interactive techniques, p.289-298, June 1988
• 27: J. Thomas Ngo , Joe Marks, Spacetime constraints revisited, Proceedings of the 20th annual conference on Computer graphics and interactive techniques, p.343-350, September 1993 [doi>10.1145/166117.166160]
• 28: Pandy, M. G., Anderson, F. C., and Hull, D. G. 1992. A parameter optimization approach for the optimal control of large-scale musculoskeletal systems. Trans. ASME. J. Biomech. Eng. 114, 4, 450--460.
• 29: John C. Platt , Alan H. Barr, Constraints methods for flexible models, Proceedings of the 15th annual conference on Computer graphics and interactive techniques, p.279-288, June 1988
• 30: Jovan Popović , Steven M. Seitz , Michael Erdmann , Zoran Popović , Andrew Witkin, Interactive manipulation of rigid body simulations, Proceedings of the 27th annual conference on Computer graphics and interactive techniques, p.209-217, July 2000 [doi>10.1145/344779.344880]
• 31: Zoran Popović , Andrew Witkin, Physically based motion transformation, Proceedings of the 26th annual conference on Computer graphics and interactive techniques, p.11-20, July 1999 [doi>10.1145/311535.311536]
• 32: Zoran Popović , Andrew Witkin, Physically based motion transformation, Proceedings of the 26th annual conference on Computer graphics and interactive techniques, p.11-20, July 1999 [doi>10.1145/311535.311536]
• 33: Marc H. Raibert , Jessica K. Hodgins, Animation of dynamic legged locomotion, Proceedings of the 18th annual conference on Computer graphics and interactive techniques, p.349-358, July 1991
• 34: Robertson, B. 1998. Meet geri: The new face of animation. Computer Graphics World (www.cgw.com).
• 35: Robertson, B. 1999. Antz-piration. Computer Graphics World (www.cgw.com).
• 36: Robertson, B. 2001a. Medieval magic. Computer Graphics World (www.cgw.com).
• 37: Robertson, B. 2001b. Monster mash. Computer Graphics World (www.cgw.com).
• 38: Stengel, R. F. 1994. Optimal Control and Estimation. Dover Books on Advanced Mathematics, New York, NY.
• 39: Symon, K. R. 1971. Mechanics, 3rd ed. Addison-Wesley, Reading, MA.
• 40: Tang, D., Ngo, J. T., and Marks, J. 1995. N-body spacetime constraints. J. Vis. Comput. Animation 6, 143--154.
• 41: Andrew Witkin , Michael Kass, Spacetime constraints, Proceedings of the 15th annual conference on Computer graphics and interactive techniques, p.159-168, June 1988
• 42: Yamane, K. and Nakamura, Y. 2000. Dynamics filter---concept and implementation of on-line motion generator for human figures. In Proceedings of the IEEE International Conference on Robotics and Automation. 688--694.

INDEX TERMS

Primary Classification:
  I. Computing Methodologies
  I.3 COMPUTER GRAPHICS
      I.3.7 Three-Dimensional Graphics and Realism
          Subjects: Animation

Additional Classification:
  G. Mathematics of Computing
  G.1 NUMERICAL ANALYSIS
      G.1.7 Ordinary Differential Equations
          Subjects: Boundary value problems

  I. Computing Methodologies
  I.3 COMPUTER GRAPHICS
      I.3.6 Methodology and Techniques
          Subjects: Interaction techniques

General Terms:
Algorithms, Design

Keywords:
Physically based animation, animation with constraints, user interface design