Linear-Time Dynamics of Characters with Stiff Joints

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dc.contributor.authorHernández, Fernandoen_US
dc.contributor.authorGarre, Carlosen_US
dc.contributor.authorCasillas, Rubénen_US
dc.contributor.authorOtaduy, Miguel A.en_US
dc.contributor.editorSilva, F. and Gutierrez, D. and Rodríguez, J. and Figueiredo, M.en_US
dc.date.accessioned2021-06-18T07:47:47Z
dc.date.available2021-06-18T07:47:47Z
dc.date.issued2021
dc.description.abstractCharacters, 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.en_US
dc.description.sectionheaders3D Modeling and Interaction
dc.description.seriesinformationV Ibero-American Symposium in Computer Graphics
dc.identifier.doi10.2312/pt.20111145
dc.identifier.isbn978-3-03868-152-6
dc.identifier.pages163-168
dc.identifier.urihttps://doi.org/10.2312/pt.20111145
dc.identifier.urihttps://diglib.eg.org:443/handle/10.2312/pt20111145
dc.publisherThe Eurographics Associationen_US
dc.subjectI.3.7 [Computer Graphics]
dc.subjectVirtual Reality
dc.titleLinear-Time Dynamics of Characters with Stiff Jointsen_US
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