Ho, Edmond S.L.Komura, Taku2015-02-232015-02-2320091467-8659https://doi.org/10.1111/j.1467-8659.2009.01369.xIn this paper, we propose a new method to efficiently synthesize character motions that involve close contacts such as wearing a T-shirt, passing the arms through the strings of a knapsack, or piggy-back carrying an injured person. We introduce the concept of topology coordinates, in which the topological relationships of the segments are embedded into the attributes. As a result, the computation for collision avoidance can be greatly reduced for complex motions that require tangling the segments of the body. Our method can be combinedly used with other prevalent frame-based optimization techniques such as inverse kinematics.10.1111/j.1467-8659.2009.01369.x299-308