Advanced Algorithms

Hierarchical Kinematic Modeling

Rigid Body Dynamics

CMPT 466
Computer Animation
Torsten Mller

Forward Kinematics
Inverse Kinematics

Rigid Body Constraints

Basic Particle Forces
Collision

Controlling Groups of Objects

particle systems
flocking behaviour

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Reading

Rigid Body Dynamics

Chapter 4 of Parents book

Foley, van Dam, etc.; Angel; Watt;
Glassner; Hill; Baker + Hearns

Keyframing can be tedious - especially to

get realism
Simulate physics by
programming equations of motions
setting initial conditions

Animator gives up control

Animator gets realistic motion
automatically.
Mller/Parent/Machiraju

Mller/Parent/Machiraju

Simulation Update Cycle

Forces

Object properties
Position, orientation
Linear and angular velocity
Linear and angular momentum
mass

Update object properties

Particle Under Forces

Calculate forces

Calculate accelerations
Using mass, momenta

Gravity
Wind
Springs
Collision avoidance
Soft constraints

Calculate acceleration due to forces

Calculate update to object velocity &
position

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Forces - Basic Physics

Friction

Friction - static and kinematic

Gravity
Viscosity
Springs (Hookes law)
Damping

Supporting object
Resting contact
Normal force
Static friction

Fs
F

Fs = usFN

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Friction (2)

Supporting object
Resting contact
Normal force
Static friction
Kinetic friction

Gravity
Fgravity =
Fk

aobject =

F
FN

mobject

Gmearth
2
2
2 = 32 ft /s = 9.8m /s
rearth

Fs = usFN

Fk = uk FN
!

Gm1m2
r2

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Viscosity

Springs (Hookes Law)

Fv = "k v nv

Springs rest length: exerts zero force

kv - depends on shape of object

n viscosity depends on properties of liquid
v- velocity
(should be low)
!
For spherical object: kv = 6"r
Terminal velocity - viscosity and gravity
balance
mg = 6"rnv
E.g., for sphere:
!
Mller/Parent/Machiraju

Fspring = k spring (x " x rest )

xrest

F
Mller/Parent/Machiraju

Spring Mesh

Damping

Edges => springs

Internal springs to stabilize shape

Calm down spring oscillations

Fdamping = "k damping v

!
F = (x " x rest )k spring " vkdamping
Mller/Parent/Machiraju

Mller/Parent/Machiraju

Mass-Spring-Damper System
Define point masses
postion
velocity
mass
force
fixed?

Define springs
point 1
point 2
rest length
kspring
kdamper

Multiple time samples per frame?

Mller/Parent/Machiraju

Mass-Spring-Damper System
For each point
Initialize force with wind
For each spring
Calculate spring-damper force
spring.point1.force += force
spring.point2.force -= force
For each point
acc = gravity
acc += force/mass
newVel = velocity + acc*dt
position += dt*(velocity+newVelocity)/2
Velocity = newVelocity
Mller/Parent/Machiraju

Examples
1, 4, 16 time samples per frame

Examples (2)
Multiple connectivity; fixing a node adding
gravity and wind

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Examples (3)

Randomize

Adding damping; making a flag

Use controlled random numbers to add
interest

Controlled randomness adds more interest

To initial values (positions, velocities)

To force fields (wind direction, wind speed)
To spring constants, masses
To joint angles
Proximal joints: lower amplitude
Distal joints: higher amplitude
Coordinate frequency and phase

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Angular Springs

Constrain Forces (soft

constraints)

Use angles (cosine) between normals

Place a linear spring between ends of
triangles

F
F
F
Fix to surface

Non-penetration
Mller/Parent/Machiraju

Mller/Parent/Machiraju

Particle Under Forces

Particle under Linear Force

Forces

Gravity
Wind
Springs
Collision avoidance
Soft constraints

Calculate acceleration due to forces

Calculate update to object velocity &
position
Mller/Parent/Machiraju

Given: a(t)
Point: x(t)
v(t)

x(t + "t) = x(t) + v(t)"t

v(t + "t) = v(t) + a(t)"t
(v(t) + v(t + "t))
x(t + "t) = x(t) +
"t
2
1
x(t + "t) = x(t) + v(t)"t + a(t)"t 2
2

Uses acceleration at start of interval for

entire interval!
!

Mller/Parent/Machiraju

Euler Integration

Euler Integration (2)

Derivative field

g(t i+1 ) = g(t i ) + g"(t i )#t

g"(t i )
!

g(t i )

!
!

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Numeric Approximation

Numeric Approximation (2)

Cos(x) is velocity function

Euler method

Step size = 0.2

Underlying fuction: Sine

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Numeric Approximation (3)

Euler method

Numeric Approximation (4)

Euler method

Step size = 5.0

Step size = 2.0

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Midpoint Method

Numeric Approximation

A.k.a. 2nd order Runga Kutta

g(t

i+

h
2

g"(t

g"(t i )
!

i+

g(t i+1 ) = g(t i ) + g"(t

i+

h
2

)#t

g(t!i )
!
Mller/Parent/Machiraju

h
2

Midpoint method
Mller/Parent/Machiraju

Step size = 2.0

4th Order Runge Kutta

k2
k3

k1

g(ti+1)
k4

g (ti)

g(t i+1 ) =

Equations of Motion

Linear force
Angular force: torque
Linear momentum
Conserved in a
closed system
Angular momentum
Resistance to linear force: mass
Resistance to angular force: inertia tensor.

k1 k 2 k 3 k 4
+ + +
6 3 3 6

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Rotational Movement

Rotational Movement (2)

Represent orientation with rotation matrix:

R(t)
Represent angular velocity with vector: !(t)
direction is axis of rotation
magnitude is speed of rotation

Angular velocity insensitive to distance

from center or rotation

!(t)

a = b + r(t)
r (t)

"
b

r(t) = " (t) # r(t)

r(t) = " (t) r(t) sin(# )

!

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Rotational Movement (3)

Rotational Movement (4)

R(t) = [ R1(t) R2 (t) R3 (t)]

q is on object and x(t), R(t) is position,

orientation of object

R (t) = [" (t) # R1 (t) " (t) # R2 (t) " (t) # R3 (t)]
!

R (t) = " (t)* R(t)

Define the following for notational convenience:

& Ay ( Bz ' Az ( B y # & 0

$
! $
A ) B = $' (Az ( Bx )' Ax ( Bz ! = $ Az
$ Ax ( B y ' Ay ( Bx ! $' Ay
%
" %

' Az
0
Ax

q(t) = R(t)q + x(t)

q(t) = " (t) # (R(t)q) + v(t)
q(t) = " (t) # (q(t) $ x(t)) + v(t)

Ay # & Bx #
!
' Ax ! $$ B y !! = A* B
0 !" $% Bz !"

It is the dual notation !

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Center of Mass

Force and Torque

Points are often used in CG for masses and

objects
Integration of differential mass times
position in object

F = ma
a = F /m
F(t) = " f i (t)

M = " mi

# i (t) = (q(t) $ x(t)) % f i (t)

m q (t)
"
x(t) =

# (t) = " # i (t)

i i

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Linear Momentum

Angular Momentum

p = mv

L(t) = $ ((q(t) " x(t)) # mi (q(t) " v(t))

P(t) = " miq i (t)

= $ (R(t)q # mi (% (t) # (q(t) " x(t))))

If the center of mass is at the origin:

= $ (mi (R(t)q # (% (t) # R(t)q)))

P(t) = Mv(t)
P (t) = Mv(t) = F(t)

L(t) = I(t)" (t)

L (t) = # (t)

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Inertia Tensor
Iobject

Ixx =

!
!

"Ixx
$
= $Ixy
$#Ixz

Ixz %
'
Iyz '
Izz '&

Ixy
Iyy
Iyz
2

Inertia Tensor (2)

Ixx =

### "(q)(qy + qz )dxdydz

I(t) = R(t)Iobject R(t)

### "(q)(q

Mller/Parent/Machiraju

+ qz )dxdydz

Ixy = " mi x i y i

Ixz = " mi x i zi

Iyz = " mi y i zi

Ixx = " mi (y i + zi )
Iyy = " mi (x i + zi )
Izz = " mi (x i + y i )

2
y

Mller/Parent/Machiraju

Inertia Tensor for a Cuboid

Inertia Tensor for a Sphere

With sides a, b, and c

Iobject

" M (b 2 + c 2 )
%
0
0
$
'
1
2
2
= $
0
M (a + c )
0
'
12 $
0
0
M ( a 2 + b 2 )'&
#

"1 0 0%
2MR $
'
=
0
1
0
'
5 $
$#0 0 1'&
2

Iobject

!
Mller/Parent/Machiraju

Mller/Parent/Machiraju

The Equations - State Vector

Update State Vector

S (t) =

x (t)

Update with velocity

R (t)

Update with angular velocity

P (t)

Update with force

L (t)

Update with torque

" x(t)% " v(t) %

$
' $
'
*
d
d $R(t)' $( (t) R(t)'
S(t) =
=
dt
dt $P(t)' $ F(t) '
$
' $
'
# L(t)& # ) (t) &

v(t) = P(t) / M

" (t) = I(t)#1 L(t)

P (t) = Mv(t) = F(t)
L (t) = $ (t)

I(t) = R(t)Iobject R(t)T

Mller/Parent/Machiraju

R (t) = " (t)* R(t)

Mller/Parent/Machiraju

Update Orientation
! (t) * R(t) and renormalize
Extract axis-angle from ! (t) and rotate
columns of R(t)
Use quaternions

Now, what about collisions?

Detecting them (kinematics)
Finding response (dynamics)
Baraff 1991

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Collisions

Collision Detection

Collision Avoidance
force fields, steer to avoid, etc.
as in flocking

Collision Detection
calculating when objects overlap
during a time interval

Collision Response

Collisions

Distribution of mass important

Localized forces
computation v. accuracy
back up time v. after-the-fact
Mller/Parent/Machiraju

Either back time up to point of collision and

go from there
OR
Respond to collision only at time steps
forward (penalty method)
Multiple collisions?
d1

t collision = t i + "t

d2

Mller/Parent/Machiraju

d1
d1 + d2

Collision Resp. Strategies

Strictly kinematical response
quick and easy
good visual results for (spherical) particles

Penalty method

Kinematic Response
Detect Collision - Point-Plane
Every time step, see if point is one wrong
side of plane
Detect collision by planar equation

used when no backing up in time is enforced

easy to use, however, forces can be unnatural

E ( p) = ax + by + cz + d < 0

Impulse forces
Usually used when time is backed up

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Kinematic Response (2)

Kinematic Response (3)

Negate velocity component in direction of

normal
v " = v # 2(v $ N)N
N

(v " N)N

The role of k:
K=0.8 get bounces
Not physically based, but reasonable visual
response

Using damping: v " = v # (1+ k )(v $ N)N

!
Mller/Parent/Machiraju

Mller/Parent/Machiraju

Penalty Method

Testing Planar Polyhedra

Associate closest point of object with spring

Penalize when interpenetration occurs
Spring force F = k*d
Apply F to point
Compute acceleration and effect velocity along
normal

Point inside a convex/concave polyhedron

test
Edge-plane intersection
Temporal aliasing can occur

d
Mller/Parent/Machiraju

Mller/Parent/Machiraju

Swept Volumes

After collision is detected

Compute motion of one relative to other

Compute swept volume
Determine if other object intersects swept
volume
Tractable only for simple motion

Mller/Parent/Machiraju

Consider applying a force to both bodies

nature simulates collisions like this
Interpenetrating objects will remain so for at
least one more time step
Cannot instantaneously change velocity
Forces need time to be integrated to accelerations
and velocities

Mller/Parent/Machiraju

After collision is detected

Still, we need instantaneous change in
velocity => Impulse

A hack for impenetrable bodies exist

Generalization of subtle surface properties
Simulates a large force for a small time step
Will change velocity like we need

Calculating impulse
Duration of impulse is no time
Actually a small amount of time
Other forces ignored during this period

No friction too !

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Time of Impact

2D Collisions

Must apply impulse exactly at time of

impact
After detecting interpenetration, use binary
search (or more sophisticated) to fine tune
Linear time approx
Beware of tunneling when dt is so large
collisions are missed

Mller/Parent/Machiraju

Were in 2D collisions are:

Vertex / edge
Vertex / vertex
Edge / edge

Compute normal to collision

v/e: perpendicular to edge (pointing towards A by
convention)
e/e: perpendicular to edge
v/v: something reasonable (perhaps use an edge-pert)

Mller/Parent/Machiraju

More Remarks
Edge/edge collisions are modeled as
point/point in this system
Only two colliding bodies at a time
3D is harder because of variety of collision
types

Impulse Force of Collision

Compute change in momentum

J = F"t = Ma"t = M"v = "(Mv) = "P

Impulse is in the direction of the normal:
J = jN

!
!

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Calculating an impulse

Relative Velocity

Solve for one number, j

Apply j in direction of N to A Equal and
Apply j in direction of N to B opposite

rA ( t ) = pA " x A (t )

p A ( t ) = v A (t ) + " A ( t ) # rA ( t )

rB ( t ) = pB " x B (t )

p B ( t ) = v B (t ) + " B ( t ) # rB ( t )

v rel = p A (t ) " p B ( t )
!

!
!

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Relative Velocity (2)

Update Velocities after Collision

Determine contact normal

jN
MA
jN
v B+ = v "B "
MB
v A+ = v "A +

AxB
A

Velocity of a point is sum of linear + angular

velocities

# A+ = # "A + IA"1 (t)(rA $ jN)

x A (t) = v A (t) + " A (t) # rA (t)

# B+ = # "B " IB"1 (t)(rB $ jN)

Relative velocity is difference of velocity of 2

points of contact

Mller/Parent/Machiraju

Mller/Parent/Machiraju

Coefficient of restitution

Computing Impulse
1st: Assume objects cannot rotate

Coefficient of resitution

q A+ = v A+ = v "A +

Models complex compression

+
v rel
= "#v "rel
& restitution of impacting bodies
+
v rel
" N = #$v #rel " N
Models dissipation of energy

jN
MA

q B+ = v B+ = v "B "

jN
MB

2nd: Use definition of coeff. of rest. to derive

a second set of v+ equations

# = 1 " superball (perfectly elastic)

!
# = 0 " clay (perfectly inelastic)
!

(v

+
A

" v B+ ) # N = "$(v "A " v "B ) # N

3rd: Use substitution to solve for j

j
j
v "A # N +
N # N " v "B # N +
N # N = "$(v "A " v "B ) # N
MA
MB
!
% 1
1 (
"
j'
+
* = "(1+ $)v rel # N
Mller/Parent/Machiraju
& MA MB )

Mller/Parent/Machiraju

Computing impulse

Accounting for rotation

Things to note:

Consider velocity of collision point P after

collision

N doesnt have to be normalized

A or B can be fixed by setting mass to infinity
If MA = 1, MB = inf, vB = 0, #=1

q A (t) = v A (t) + " A (t) # rA

Derived from two equations

Computes reflection of vA about N

Mller/Parent/Machiraju

Accounting for rotation (2)

Use definition of coeff. of rest. to derive a
second set of v+ equations
N " (q A+ # q B+ ) = #$N " (q #A # q #B )

Use substitution to solve for j

!

j=

"(1+ #) N $ (q " q
"
A

"
B

1
1
+
+ N $ IA"1 (t)(rA % N) % rA + N $ IB"1 (t)(rB % N) % rB
MA MB

q A (t) = v A (t) + " A (t) # rA

jN
jN
v B+ = v "B "
MA
MB
+
"
"1
+
"
"1
# A = # A + IA (t)(rA $ jN) # B = # B " IB (t)(rB $ jN)
v A+ = v "A +

Mller/Parent/Machiraju

Computing Impulse Forces

Given: two points of contact and normal of contact
Compute velocities of points of contact: va, vb
Compute relative velocities in direction of normal
If Vrelative > threshold
Compute j
PA += J
PB -= J

// actually colliding

LA += rA x J
LB -= rB x J

Else if Vrelative < -threshold, then resting contact

Else they are moving away from each other

Mller/Parent/Machiraju

Mller/Parent/Machiraju