Linear-Time Dynamics of Characters with Stiff Joints
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Date
2021
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association
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.
Description
@inproceedings{10.2312:pt.20111145,
booktitle = {V Ibero-American Symposium in Computer Graphics},
editor = {Silva, F. and Gutierrez, D. and Rodríguez, J. and Figueiredo, M.},
title = {{Linear-Time Dynamics of Characters with Stiff Joints}},
author = {Hernández, Fernando and Garre, Carlos and Casillas, Rubén and Otaduy, Miguel A.},
year = {2021},
publisher = {The Eurographics Association},
ISBN = {978-3-03868-152-6},
DOI = {10.2312/pt.20111145}
}