Siggraph 2005 logo
Conference Exhibition Call For Participation Presenters Media Registration

courses

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



  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


  SESSION II - FEATHERSTONE'S ARTICULATED BODY METHOD
8:55 - Introduction to Spatial Algebra
- Brief Overview of Featherstone's Algorithm
- Implementation Details

Hadap


  SESSION III - CONSTRAINTS AND IMPLICIT INTEGRATION
9:50 - Introduction to Analytical Constraints
- Bilateral Constraints for ABM

Kokkevis


10:15 Break
10:30 - Impacts, Contacts and Unilateral Constraints
- Solving the Constraint System. The Iterative LCP Solver

Kokkevis


11:05 Stiff Articulated Rigid Body Dynamics Using Differential Algebraic Equations

Hadap


  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


Noon Real-Time Dynamics and Control of Articulated Characters

Kokkevis


Noon Real-Time Dynamics and Control of Articulated Characters

Kokkevis


12:10 Session V- Questions & Answers
acm.org siggraph.org