We present an interactive design system that allows non-expert users to create animated mechanical characters. Given articulated character as input, the user iteratively creates animation by sketching motion curves indicating how different parts of should move. For each curve, our framework optimized mechanism reproduces it closely possible. The resulting mechanisms are attached and then connected other using gear trains, which created in a semi-automated fashion. assemblies generated with...

We present a new discrete velocity-level formulation of frictional contact dynamics that reduces to pair coupled projections and introduce simple fixed-point property this system. This allows us construct novel algorithm for accurate resolution based on staggered sequence projections. The accelerates performance using warm starts leverage the potentially high temporal coherence between states provides users with direct control over accuracy. Applying rigid deformable systems, we obtain...

We describe an automatic technique for generating the motion of tendons and muscles under skin a traditionally animated character. This is achieved by integrating traditional animation pipeline with novel biomechanical simulator capable dynamic simulation complex routing constraints on tendons. also algorithm computing activation levels required to track input animation. demonstrate results several animations human hand.

We present a method for transforming 3D object into cube or box using continuous folding sequence. Our produces single, connected that can be physically fabricated and folded from one shape to the other. segment voxels search voxel-tree fold input target shape. This involves three major steps: finding good voxelization, tree structure form shapes' configurations, non-intersecting demonstrate our results on several objects also fabricate some printer.

Crafting the behavior of a deformable object is difficult---whether it biomechanically accurate character model or new multimaterial 3D printable design. Getting right requires constant iteration, performed either manually driven by an automated system. Unfortunately, Previous algorithms for accelerating three-dimensional finite element analysis elastic objects suffer from expensive precomputation stages that rely on priori knowledge object's geometry and material composition. In this paper...

We present a novel approach for simulating thin hyperelastic skin. Real human skin is only few millimeters thick. It can stretch and slide over underlying body structures such as muscles, bones, tendons, revealing rich details of moving character. Simulating challenging because it in close contact with the shares its geometry. Despite major advances elastodynamics cloth soft bodies computer graphics, methods are difficult to use due need deal non-conforming meshes, collision detection,...

We present AutoConnect, an automatic method that creates customized, 3D-printable connectors attaching two physical objects together. Users simply position and orient virtual models of the they want to connect indicate some auxiliary information such as weight dimensions. Then, AutoConnect several alternative designs users can choose from for 3D printing. The design connector is created by combining holders, one each object. categorize holders into types. first type holds standard pipes...

With existing programming tools, writing high-performance simulation code is labor intensive and requires sacrificing readability portability. The alternative to prototype simulations in a high-level language like Matlab, thereby performance. Matlab model naturally describes the behavior of an entire physical system using linear algebra. However, also manipulate individual geometric elements, which are best represented linked data structures meshes. Translating between algebra comes at...

Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance long history research, mechanical assemblies when given final assembled state remains a challenging problem. This due to complexity dealing with arbitrary 3D shapes highly constrained motion required real-world assemblies. In this work, we propose novel method efficiently plan physically plausible assembly sequences Our leverages...

We present a new discrete velocity-level formulation of frictional contact dynamics that reduces to pair coupled projections and introduce simple fixed-point property this system. This allows us construct novel algorithm for accurate resolution based on staggered sequence projections. The accelerates performance using warm starts leverage the potentially high temporal coherence between states provides users with direct control over accuracy. Applying rigid deformable systems, we obtain...

A significant challenge in applications of computer animation is the simulation ropes, cables, and other highly constrained strandlike physical curves. Such scenarios occur frequently, for instance, when a strand wraps around rigid bodies or passes through narrow sheaths. Purely Lagrangian methods designed less such as hair suffer from difficulties these important cases. To overcome this, we introduce new framework that combines Eulerian approaches. The two key contributions are reduced...

The tendons of the hand and other biomechanical systems form a complex network sheaths, pulleys, branches. By modeling these anatomical structures, we obtain realistic simulations coordination dynamics that were previously not possible. First, introduce Eulerian-on-Lagrangian discretization tendon strands, with new selective quasistatic formulation eliminates unnecessary degrees freedom in longitudinal direction, while maintaining dynamic behavior transverse directions. This also allows us...

Simulating viscoelastic solids undergoing large, nonlinear deformations in close contact is challenging. In addition to inter-object contact, methods relying on Lagrangian discretizations must handle degenerate cases by explicitly remeshing or resampling the object. Eulerian methods, which discretize space itself, provide an interesting alternative due fixed nature of discretization. this paper we present a new method for materials that features collision detection and resolution scheme does...

A significant challenge in applications of computer animation is the simulation ropes, cables, and other highly constrained strandlike physical curves. Such scenarios occur frequently, for instance, when a strand wraps around rigid bodies or passes through narrow sheaths. Purely Lagrangian methods designed less such as hair suffer from difficulties these important cases. To overcome this, we introduce new framework that combines Eulerian approaches. The two key contributions are reduced node...

We describe an automatic technique for generating the motion of tendons and muscles under skin a traditionally animated character. This is achieved by integrating traditional animation pipeline with novel biomechanical simulator capable dynamic simulation complex routing constraints on tendons. also algorithm computing activation levels required to track input animation. demonstrate results several animations human hand.

Simulating viscoelastic solids undergoing large, nonlinear deformations in close contact is challenging. In addition to inter-object contact, methods relying on Lagrangian discretizations must handle degenerate cases by explicitly remeshing or resampling the object. Eulerian methods, which discretize space itself, provide an interesting alternative due fixed nature of discretization. this paper we present a new method for materials that features collision detection and resolution scheme does...

We resolve the longstanding problem of simulating contact-mediated interaction cloth and sharp geometric features by introducing an Eulerian-on-Lagrangian (EOL) approach to simulation. Unlike traditional Lagrangian approaches simulation, our EOL permits bending exactly at sliding over edges, avoiding parasitic locking caused over-constraining contact constraints. Wherever is in with features, we insert vertices into cloth, while rest simulated standard fashion. Our algorithm manifests as new...

It is well known that the dynamics of articulated rigid bodies can be solved in O (n) time using a recursive method, where n number joints. However, when elasticity added between (e.g. , damped springs), with linearly implicit integration, stiffness matrix equations motion breaks tree topology system, making method inapplicable. In such cases, only alternative has been to form and solve system matrix, which takes ( 3 ) time. We propose new approach capable solving near linear Our we call...

The proliferation of 3D representations, from explicit meshes to implicit neural fields and more, motivates the need for simulators agnostic representation. We present a data-, mesh-, grid-free solution elastic simulation any object in geometric representation undergoing large, nonlinear deformations. note that every standard can be reduced an occupancy function queried at point space, we define simulator atop this common interface. For each object, fit small network encoding spatially...

We propose a novel three-way coupling method to model the contact interaction between solid and fluid driven by strong surface tension. At heart of our physical is thin liquid membrane that simultaneously couples both volume rigid objects, facilitating accurate momentum transfer, collision processing, tension calculation. This implemented numerically under hybrid Eulerian-Lagrangian framework where modelled as simplicial mesh simulated on background Cartesian grid. devise monolithic solver...