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A Unified Constraint Framework for Physical Animation of Articulated Rigid Bodies

机译：铰接刚体物理动画的统一约束框架

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摘要

This paper presents a paradigm for designing and implementing simulators applicable in contemporary computer graphics to animate articulated multibody systems constrained by simultaneously occurring collisions, resting contact, kinematic loops and other non-standard user-defined constraints. Our proposition includes representation of the constraints and a procedure for imposing them. The capabilities of an actual implementation are benchmarked in a fairly complex simulation scenario.

机译：本文提出了一种范式，用于设计和实现适用于当代计算机图形学的仿真器，以动画化受同时发生的碰撞，静止接触，运动学回路和其他非标准用户定义的约束所约束的多关节多体系统。我们的主张包括约束的表示以及施加约束的过程。实际实现的功能在相当复杂的模拟场景中进行了基准测试。

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来源
《Motion in games》|2012年|90-101|共12页
会议地点 Rennes(FR)
作者
Jakub Stepien;
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作者单位

Institute of Informatics, Silesian University of Technology;

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会议组织
原文格式 PDF
正文语种 eng
中图分类
关键词
rigid body dynamics; articulated multibody systems; physics engine; computer animation; physical animation; simulation; constraint space;

机译：刚体动力学；铰接式多体系统；物理引擎；电脑动画；物理动画；模拟;约束空间;

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1. A unified mathematical framework and an adaptive numerical method for fluid-structure interaction with rigid, deforming, and elastic bodies [J] . Bhalla A.P.S., Bale R., Griffith B.E., Journal of Computational Physics . 2013,第Null期

机译：与刚体，变形和弹性体进行流固耦合的统一数学框架和自适应数值方法
2. A Unified Framework for Dynamics and Lyapunov Stability of Holonomically Constrained Rigid Bodies [J] . Khoder Melhem, Zhaoheng Liu, Antonio Loria Journal of Advanced Computatioanl Intelligence and Intelligent Informatics . 2005,第4期

机译：完整的刚体受约束动力学和Lyapunov稳定性的统一框架
3. Notion of Control-Law Module and Modular Framework of Cooperative Transportation Using Multiple Nonholonomic Robotic Agents With Physical Rigid-Formation-Motion Constraints [J] . W. Li Cybernetics, IEEE Transactions on . 2016,第5期

机译：带有刚性刚体运动约束的多种非完整机器人代理的协同运输控制法模块和模块化框架的概念
4. A Unified Constraint Framework for Physical Animation of Articulated Rigid Bodies [C] . Jakub St?pień International Conference on Motion in Games . 2012

机译：铰接刚体物理动画的统一约束框架
5. A Unified Geometric Framework for Kinematics, Dynamics and Concurrent Control of Free-Base, Open-Chain Multi-Body Systems with Holonomic and Nonholonomic Constraints. [D] . Chhabra, Robin. 2014

机译：具有完整和非完整约束的自由基础，开放链多体系统的运动学，动力学和并发控制的统一几何框架。
6. A UNIFIED FRAMEWORK FOR ESTIMATING DIFFUSION TENSORS OF ANY ORDER WITH SYMMETRIC POSITIVE-DEFINITE CONSTRAINTS [O] . Angelos Barmpoutis, Baba C. Vemuri -1

机译：期对称正定约束的任何命令的一个统一的框架用于估计扩散张量
7. All You Need Is Force: a constraint-based approach for rigid body dynamics in computer animation [O] . All You, Need Is Force, Kees Van Overveld, 1995

机译：所有你需要的力量：一种基于约束的方法，用于计算机动画中的刚体动力学
8. A unifying framework for rigid multibody dynamics and serial and parallel computational issues [R] . Fijany, Amir, Jain, Abhinandan 1989

机译：用于刚性多体动力学和串行和并行计算问题的统一框架

A Unified Constraint Framework for Physical Animation of Articulated Rigid Bodies

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