Towards Robust Animation of Complex Objects in Interaction

Laks Raghupathi 1
1 EVASION - Virtual environments for animation and image synthesis of natural objects
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : The robust handling of collisions and contacts is important in physics-based animation and simulation scenarios. A major problem is how to handle the simultaneous collisions and auto-collisions occurring between objects in the scene. We present new methods for the robust simulation of complex deformable objects. Our basic technique consists of detecting collisions both in continuous and discrete time steps. We propose two approaches for handling the collisions once they are detected. First, we conceptualize the collisions as linear constraints and the dynamics equations as an objective function to be minimized thus formulating it as a quadratic programming (QP) problem. To this effect, we have developed a novel integrated QP solver taking into account of both the underlying dynamics and the simultaneous multiple collisions. Second, we have have developed a spring-based method which handles multiple collisions by exploiting temporal coherence. Our approach is expected to guarantee a collision-free final state while minimizing the creation of \secondary collisions". We present our results and comprehensively analyze the advantages and relevance of our method vis-avis the existing methods. Applications include mechanical and surgery simulations, computer games and motion picture special effects.
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Submitted on : Thursday, November 23, 2006 - 2:32:19 PM
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Laks Raghupathi. Towards Robust Animation of Complex Objects in Interaction. Modeling and Simulation. Institut National Polytechnique de Grenoble - INPG, 2006. English. ⟨tel-00115823⟩

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