Abstract
We propose a fast physically-based simulation system for skeleton-driven deformable body characters. Our system can generate realistic motions of self-propelled deformable body characters by considering the two-way interactions among the skeleton, the deformable body, and the environment in the dynamic simulation. It can also compute the passive jiggling behavior of a deformable body driven by a kinematic skeletal motion. We show that a well-coordinated combination of: (1) a reduced deformable body model with nonlinear finite elements, (2) a linear-time algorithm for skeleton dynamics, and (3) explicit integration can boost simulation speed to orders of magnitude faster than existing methods, while preserving modeling accuracy as much as possible. Parallel computation on the GPU has also been implemented to obtain an additional speedup for complicated characters. Detailed discussions of our engineering decisions for speed and accuracy of the simulation system are presented in the article. We tested our approach with a variety of skeleton-driven deformable body characters, and the tested characters were simulated in real time or near real time.
Highlights
Many researchers are interested in fast simulation of elastically deformable bodies and many approximate techniques have been proposed, along with fixes to those techniques
A nonlinear finite element method is chosen to handle largely deformed elements effectively, a reduced system for deformable bodies obtained by applying mesh embedding and mass lumping is used to speed up the simulation, and a linear-time algorithm is used to solve the fully nonlinear dynamics of the skeletons
Though such an approach could be thought as a practical choice for graphics applications that are generous with regard to the simulation accuracy, sometimes it could lead to visible artifacts such as overly stiff behaviors of soft thin bodies surrounded by coarse control lattices as pointed out in Nesme et al [2009]
Summary
Many researchers are interested in fast simulation of elastically deformable bodies and many approximate techniques have been proposed, along with fixes to those techniques. The skeleton is driven kinematically so that the global skeletal motion is not affected by the secondary motions of the passive deformable bodies and the environment. In this paper we present a fast physics simulation system for skeleton-driven deformable body characters. A nonlinear finite element method is chosen to handle largely deformed elements effectively, a reduced system for deformable bodies obtained by applying mesh embedding and mass lumping is used to speed up the simulation, and a linear-time algorithm is used to solve the fully nonlinear dynamics of the skeletons. After reviewing related previous work, we will explain our choices in building an approximate mathematical model for a skeleton-driven deformable body system and solving the equations of motion of the dynamical system efficiently, 4 and 5.
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