Linear-Time Dynamics of Characters with Stiff Joints
dc.contributor.author | Hernández, Fernando | en_US |
dc.contributor.author | Garre, Carlos | en_US |
dc.contributor.author | Casillas, Rubén | en_US |
dc.contributor.author | Otaduy, Miguel A. | en_US |
dc.contributor.editor | Silva, F. and Gutierrez, D. and Rodríguez, J. and Figueiredo, M. | en_US |
dc.date.accessioned | 2021-06-18T07:47:47Z | |
dc.date.available | 2021-06-18T07:47:47Z | |
dc.date.issued | 2021 | |
dc.description.abstract | Characters, like other articulated objects and structures, are typically simulated using articulated dynamics algorithms. There are efficient linear-time algorithms for the simulation of open-chain articulated bodies, but complexity grows notably under additional constraints such as joint limits, loops or contact, or if the bodies undergo stiff joint forces. This paper presents a linear-time algorithm for the simulation of open-chain articulated bodies with joint limits and stiff joint forces. This novel algorithm uses implicit integration to simulate stiff forces in a stable manner, and avoids drift by formulating joint constraints implicitly. One additional interesting feature of the algorithm is that its practical implementation entails only small modifications to a popular algorithm. | en_US |
dc.description.sectionheaders | 3D Modeling and Interaction | |
dc.description.seriesinformation | V Ibero-American Symposium in Computer Graphics | |
dc.identifier.doi | 10.2312/pt.20111145 | |
dc.identifier.isbn | 978-3-03868-152-6 | |
dc.identifier.pages | 163-168 | |
dc.identifier.uri | https://doi.org/10.2312/pt.20111145 | |
dc.identifier.uri | https://diglib.eg.org:443/handle/10.2312/pt20111145 | |
dc.publisher | The Eurographics Association | en_US |
dc.subject | I.3.7 [Computer Graphics] | |
dc.subject | Virtual Reality | |
dc.title | Linear-Time Dynamics of Characters with Stiff Joints | en_US |
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