We describe algorithms for real-time synthesis of realistic sound effects interactive simulations (e.g., games) and animation. These are produced automatically, from 3D models using dynamic simulation user interaction. develop that efficient, physically-based, can be controlled by users in natural ways. effective techniques producing high quality continuous contact sounds running at video rates which slow relative to audio synthesis. accomplish this modal driven forces modeled rates, much...

We present a technique which allows subtle nonlinear quasi-static deformations of articulated characters to be compactly approximated by data-dependent eigenbases are optimized for real time rendering on commodity graphics hardware. The method extends the common Skeletal-Subspace Deformation (SSD) provide efficient approximations complex deformation behaviours exhibited in simulated, measured, and artist-drawn characters. Instead storing displacements key poses (which may numerous), we...

In this paper we introduce a new approach for the embedding of linear elastic deformable models. Our technique results in significant improvements efficient physically based simulation highly detailed objects. First, our takes into account topological details, that is, disconnected parts fall same coarse element are simulated independently. Second, varying material properties by computing stiffness and interpolation functions elements which accurately approximate behaviour embedded material....

Modifying motion capture to satisfy the constraints of new animation is difficult when contact involved, and a critical problem for hands. The compliance with which character makes also reveals important aspects movement's purpose. We present technique called interaction , capturing these phenomena. forces at same time as motion, high rate, use both estimate nominal reference trajectory joint compliance. Unlike traditional methods, our method estimates without need motorized perturbation...

We introduce a new method for simulating frictional contact between volumetric objects using interpenetration volume constraints. When applied to complex geometries, our formulation results in dramatically simpler systems of equations than those traditional mesh models. Contact highly detailed meshes can be simplified single unilateral constraint equation, or accurately processed at arbitrary geometry-independent resolution with simultaneous sticking and sliding across patches. exploit fast...

We present a novel optimization-based algorithm for the design and fabrication of customized, deformable input devices, capable continuously sensing their deformation. propose to embed piezoresistive elements into flexible 3D printed objects. These are then utilized recover rich natural user interactions at runtime. Designing such objects is challenging hard problem if attempted manually all but simplest geometries deformations. Our method simultaneously optimizes internal routing computes...

Motivated by humans' ability to adapt skills in the learning of new ones, this paper presents AdaptNet, an approach for modifying latent space existing policies allow behaviors be quickly learned from like tasks comparison scratch. Building on top a given reinforcement controller, AdaptNet uses two-tier hierarchy that augments original state embedding support modest changes behavior and further modifies policy network layers make more substantive changes. The technique is shown effective...

We present a new technique for simulating high resolution surface wrinkling deformations of composite objects consisting soft interior and harder skin. combine thin shells with coarse finite element lattices define frequency based constraints that allow the formation wrinkles properties matching those predicted by physical parameters object. Our two-way coupled model produces expected behavior without computational expense large number volumetric elements to under surface. use C 1 quadratic...

Abstract We present a general method to intuitively create wide range of locomotion controllers for 3D legged characters. The key our approach is the assumption that efficient can exploit natural vibration modes body, where these are related morphological parameters such as shape, size, mass, and joint stiffness. computed mechanical model any character with rigid bones, elastic joints, additional constraints desired. A small number be selected respect their relevance patterns combined into...

In this paper we introduce a new approach for the embedding of linear elastic deformable models. Our technique results in significant improvements efficient physically based simulation highly detailed objects. First, our takes into account topological details, that is, disconnected parts fall same coarse element are simulated independently. Second, varying material properties by computing stiffness and interpolation functions elements which accurately approximate behaviour embedded material....

We study the problem of approximating a 3D solid with union overlapping spheres. In comparison state-of-the-art approach, our method offers more than an order magnitude speedup and achieves tighter approximation in terms volume difference original while using fewer The spheres generated by are internal tangent to solid's boundary, which permits exact error analysis, fast updates under local feature size preserving deformation, conservative dilation. show that dilated offer superior time...

Physical systems ranging from elastic bodies to kinematic linkages are defined on high-dimensional configuration spaces, yet their typical low-energy configurations concentrated much lower-dimensional subspaces. This work addresses the challenge of identifying such subspaces automatically: given as input an energy function for a system, we produce low-dimensional map whose image parameterizes diverse submanifold configurations. The only additional needed is single seed system initialize our...

Dynamics simulation of smooth surfaced rigid bodies in contact is a critical problem physically based animation and interactive virtual environments. We describe technique that uses reduced coordinates to evolve single continuous between piecewise parametric surfaces. The incorporation friction into our algorithm straightforward. dynamics equations, although slightly more complex due the coordinate formulation, can be integrated easily using explicit integrators without need for constraint...

This paper focuses on the stable and efficient simulation of articulated rigid body systems for real-time applications. Specifically, we focus use geometric stiffness which can dramatically increase stability. We examine several numerical problems with inclusion in equations motion, as proposed by previous work, address these issues introducing a novel method efficiently building linear system. offers improved tractability efficiency. Furthermore, tends to significantly dissipate kinetic...

Substructuring permits parallelization of physics simulation on multi-core CPUs. We present a new substructuring approach for solving stiff multibody systems containing both bilateral and unilateral constraints. Our is based non-overlapping domain decomposition with the Schur complement method, which we extend to involving contact formulated as mixed bounds linear complementarity problem. At each time step, alternate between subsystem interface constraint impulses, leads identification...

We describe a method for creating stippled prints using quadrotor flying robot. At low level, we use motion capture to measure the position of robot and canvas, robust control algorithm command fly different stipple positions make contact with canvas an ink soaked sponge. collection important details challenges that must be addressed successful in our implementation, including model estimation, Kalman filtering state latency between control, radio communication interference, parameter...

This paper presents a novel interaction system, aimed at hands-on manipulation of digital models through natural hand gestures. Our system is composed new physical device coupled with simulated compliant virtual model. The interface consists SpaceNavigator, augmented pressure sensors to detect directional forces applied by the user's fingertips. information controls position, orientation, and posture in same way that SpaceNavigator uses measured animate frame. In this manner, user control...

We present a floor-space design that provides the impression of walking on various terrains by rendering graphical, audio and haptic stimuli synchronously with low latency. Currently, interactive floors tend to focus visual auditory feedback but have neglected explore role haptics. Our recreates these three modalities in direct manner where sensors reactive cues are located same area. The goal this project is creation realistic dynamic area ground allows multiple, untethered users engage...

Control for physically based characters presents a challenging task because it requires not only the management of functional aspects that lead to successful completion desired task, but also resulting movement must be visually appealing and meet quality requirements application. Crafting controllers generate desirable behaviors is difficult specification final outcome indirect often at odds with control task. This paper method which exploits natural modal vibrations character in order...

Abstract In computer graphics, modeling the geometry of hair and hair‐like patterns such as grass fur remains a significant challenge. Hair strands can exist in an extensive variety arrangements choice appropriate representation for tasks synthesis, fitting, editing, or reconstruction from samples, is non‐trivial. To support applications we present novel mathematical based on class minimal surfaces called generalized helicoids. This allows us to characterize single strand, well those its...

We describe the Tango, a new passive haptic interface for whole-hand interaction with 3D objects. The Tango is shaped like ball and can be grasped comfortably in one hand. Its pressure sensitive skin measures contact pressures exerted by user's hand, accelerometers within device measure its motion attitude. This information used novel modes of three-dimensional design device, software interpreting sensor data user interaction. Accompanying this paper, there demonstration at Hands-On Demo...