CharacterPhysicsandAnimationinFullAuto.ppt

Character Physics and Animation in Full Auto David Wu Pseudo Interactive Introduction Physical simulation of characters is an important problem in games. In this lecture, the Framework for character simulation and animation that PI is developing will be presented. Introduction (cont) This framework is part of the latest incarnation of our physics engine, and is the basis for a game in development. Goal The primary goal of this presentation is to describe a collection of algorithms that can be used to solve the dynamic equations of characters, incorporate animation data into the solutions and integrate the results forward in time. Goal The main algorithms are: The Structurally Recursive methods for inverse dynamics Implicit Euler integration Mathematical Optimization Goal (cont) By the end of the lecture you should have an intuitive understanding of how the structurally recursive methods work to solve for the dynamics of a character and how implicit Euler can use the results to evolve the system dynamics through time. Framework Framework Goal (continued) The secondary goal of this presentation is to get myself a free pass to GameTech. The Framework Physics in games is similar to where 3d rendering was in the early ‘90s. There are many different approaches to solving the problem. There is no commonly accepted standard. I.e. no “Triangle”. The Framework I predict that this framework will become the “Triangle” of physics in games. The Framework Versatile Robust Stable performance Simple API Explicit Control of DOF useful for Animation Disclaimer I am often wrong. Physical Entities All Physical entities are made up of “Frames” A Frame has Degrees of Freedom (DOF) and can perform spatial transformation from local space to global space. For this lecture we will only consider rigid bodies, although the algorithms that are described can support arbitrary DOF, including, for example, finite element nodes. Character Example Each set of arrows is a Frame All frames are