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2. Introduction to Articulated Rigid Body Dynamics
Half-Day, Sunday, 31 July, 8:30 am - 12:15 pm
Room 515B
Level: Intermediate
A comprehensive overview of articulated-rigid-body dynamics simulation based on Featherstone's recursive method and supplemented with analytical constraints, impact, frictional contact, joint-space control, and implicit integration. Novel applications from film production and video games, including simulation of foliage, hair, and character dynamics, are demonstrated.
Prerequisites
Familiarity with physically based simulation techniques, rigid-body dynamics, collision detection, kinematics of articulated bodies, numerical linear algebra, differential equations, and numerical methods.
Intended Audience
This course is intended for practitioners with some experience in physically based modeling and an interest in articulated body simulation. It provides a comprehensive overview of the topic, practical implementation details, and suggestions for novel areas of application. The intended audience also includes effects developers, technical directors, and researchers in the area.
Co-Organizers
Sunil Hadap
PDI/DreamWorks
Vangelis Kokkevis
Sony Computer Entertainment
Schedule
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SESSION I - INTRODUCTION |
| 8:30 |
Introduction |
| 8:45 - 12:15 |
- Dynamics of Articulated Bodies - Problem Statement
- Formulating the Equations of Motion: Maximal vs. Reduced Coordinates
Kokkevis
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SESSION II - FEATHERSTONE'S ARTICULATED BODY METHOD |
| 8:55 |
- Introduction to Spatial Algebra
- Brief Overview of Featherstone's Algorithm
- Implementation Details
Hadap
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SESSION III - CONSTRAINTS AND IMPLICIT INTEGRATION |
| 9:50 |
- Introduction to Analytical Constraints
- Bilateral Constraints for ABM
Kokkevis
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| 10:15 |
Break
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| 10:30 |
- Impacts, Contacts and Unilateral Constraints
- Solving the Constraint System. The Iterative LCP Solver
Kokkevis
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| 11:05 |
Stiff Articulated Rigid Body Dynamics Using Differential Algebraic Equations
Hadap
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SESSION IV - Applications From Feature Productions and Video Games Technology |
| 11:25 |
- Character Dynamics and Dynamics of Wavy/Curly Hair
- Dynamics of Strands, Vines and Foliage
Hadap
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| Noon |
Real-Time Dynamics and Control of Articulated Characters
Kokkevis
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| Noon |
Real-Time Dynamics and Control of Articulated Characters
Kokkevis
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| 12:10 |
Session V- Questions & Answers
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