Smart Motion Synthesis

Creating long motion sequences is a time‐consuming task even when motion capture equipment or motion editing tools are used. In this paper, we propose a system for creating a long motion sequence by combining elementary motion clips. The user is asked to first input motions on a timeline. The system then automatically generates a continuous and natural motion. Our system employs four motion synthesis methods: motion transition, motion connection, motion adaptation, and motion composition. Based on the constraints between the feet of the animated character and the ground, and the timing of the input motions, the appropriate method is determined for each pair of overlapped or sequential motions. As the user changes the arrangement of the motion clips, the system interactively changes the output motion. Alternatively, the user can make the system execute an input motion as soon as possible so that it follows the previous motion smoothly. Using our system, users can make use of existing motion clips. Because the entire process is automatic, even novices can easily use our system. A prototype system demonstrates the effectiveness of our approach.     

Simulation of Human Motion Data using Short-Horizon Model-Predictive Control

Many data‐driven animation techniques are capable of producing high quality motions of human characters. Few techniques, however, are capable of generating motions that are consistent with physically simulated environments. Physically simulated characters, in contrast, are automatically consistent with the environment, but their motions are often unnatural because they are difficult to control. We present a model‐predictive controller that yields natural motions by guiding simulated humans toward real motion data. During simulation, the predictive component of the controller solves a quadratic program to compute the forces for a short window of time into the future. These forces are then applied by a low‐gain proportional‐derivative component, which makes minor adjustments until the next planning cycle. The controller is fast enough for interactive systems such as games and training simulations. It requires no precomputation and little manual tuning. The controller is resilient to mismatches between the character dynamics and the input motion, which allows it to track motion capture data even where the real dynamics are not known precisely. The same principled formulation can generate natural walks, runs, and jumps in a number of different physically simulated surroundings.     

Character Motion Synthesis by Topology Coordinates

In this paper, we propose a new method to efficiently synthesize character motions that involve close contacts such as wearing a T-shirt, passing the arms through the strings of a knapsack, or piggy-back carrying an injured person. We introduce the concept of topology coordinates, in which the topological relationships of the segments are embedded into the attributes. As a result, the computation for collision avoidance can be greatly reduced for complex motions that require tangling the segments of the body. Our method can be combinedly used with other prevalent frame-based optimization techniques such as inverse kinematics.     

Flexible Splicing of Upper‐Body Motion Spaces on Locomotion

This paper presents an efficient technique for synthesizing motions by stitching, or splicing, an upper‐body motion retrieved from a motion space on top of an existing lower‐body locomotion of another motion. Compared to the standard motion splicing problem, motion space splicing imposes new challenges as both the upper and lower body motions might not be known in advance. Our technique is the first motion (space) splicing technique that propagates temporal and spatial properties of the lower‐body locomotion to the newly generated upper‐body motion and vice versa. Whereas existing techniques only adapt the upper‐body motion to fit the lower‐body motion, our technique also adapts the lower‐body locomotion based on the upper body task for a more coherent full‐body motion. In this paper, we will show that our decoupled approach is able to generate high‐fidelity full‐body motion for interactive applications such as games.     

Motion Compression using Principal Geodesics Analysis

Due to the growing need for large quantities of human animation data in the entertainment industry, it has become a necessity to compress motion capture sequences in order to ease their storage and transmission. We present a novel, lossy compression method for human motion data that exploits both temporal and spatial coherence. Given one motion, we first approximate the poses manifold using Principal Geodesics Analysis (PGA) in the configuration space of the skeleton. We then search this approximate manifold for poses matching end-effectors constraints using an iterative minimization algorithm that allows for real-time, data-driven inverse kinematics. The compression is achieved by only storing the approximate manifold parametrization along with the end-effectors and root joint trajectories, also compressed, in the output data. We recover poses using the IK algorithm given the end-effectors trajectories. Our experimental results show that considerable compression rates can be obtained using our method, with few reconstruction and perceptual errors.     

Improving Sampling‐based Motion Control

We address several limitations of the sampling‐based motion control method of Liu et at. [ LYvdP* 10 ]. The key insight is to learn from the past control reconstruction trials through sample distribution adaptation. Coupled with a sliding window scheme for better performance and an averaging method for noise reduction, the improved algorithm can efficiently construct open‐loop controls for long and challenging reference motions in good quality. Our ideas are intuitive and the implementations are simple. We compare the improved algorithm with the original algorithm both qualitatively and quantitatively, and demonstrate the effectiveness of the improved algorithm with a variety of motions ranging from stylized walking and dancing to gymnastic and Martial Arts routines.     

Textured Liquids based on the Marker Level Set

In this work we propose a new Eulerian method for handling the dynamics of a liquid and its surface attributes (for example its color). Our approach is based on a new method for interface advection that we term the Marker Level Set (MLS). The MLS method uses surface markers and a level set for tracking the surface of the liquid, yielding more efficient and accurate results than popular methods like the Particle Level Set method (PLS). Another novelty is that the surface markers allow the MLS to handle non-diffusively surface texture advection, a rare capability in the realm of Eulerian simulation of liquids. We present several simulations of the dynamical evolution of liquids and their surface textures.     

Head-eye Animation Corresponding to a Conversation for CG Characters

CG character animations, in which CG characters engage in conversations, are widely used in multimedia contents such as videos and games. In constructing such an animation, we should consider about many factors, such as the content of the utterance and the state of conversation, which necessitates a large amount of time and labor. To deal with this problem, this paper proposes a method, which generates the head-eye movements of the CG characters synchronized with the conversation. In this method, so as to generate a composite head-eye movement, the view line direction is divided into the head, eye and body rotations by sharing motion mechanism dynamically adjusted according to the view line direction. And letting the two modules generating the head and the eye movements share the same conversation state, head and eye movements synchronized with the conversation are generated. Finally, we apply the proposed method to the conversation scenes, and show that natural animation can be produced easily.     

Crowds by Example

We present an example-based crowd simulation technique. Most crowd simulation techniques assume that the behavior exhibited by each person in the crowd can be defined by a restricted set of rules. This assumption limits the behavioral complexity of the simulated agents. By learning from real-world examples, our autonomous agents display complex natural behaviors that are often missing in crowd simulations. Examples are created from tracked video segments of real pedestrian crowds. During a simulation, autonomous agents search for examples that closely match the situation that they are facing. Trajectories taken by real people in similar situations, are copied to the simulated agents, resulting in seemingly natural behaviors.     

Implicit Contact Handling for Deformable Objects

We present an algorithm for robust and efficient contact handling of deformable objects. By being aware of the internal dynamics of the colliding objects, our algorithm provides smooth rolling and sliding, stable stacking, robust impact handling, and seamless coupling of heterogeneous objects, all in a unified manner. We achieve dynamicsawareness through a constrained dynamics formulation with implicit complementarity constraints, and we present two major contributions that enable an efficient solution of the constrained dynamics problem: a time stepping algorithm that robustly ensures non-penetration and progressively refines the formulation of constrained dynamics, and a new solver for large mixed linear complementarity problems, based on iterative constraint anticipation. We show the application of our algorithm in challenging scenarios such as multi-layered cloth moving at high velocities, or colliding deformable solids simulated with large time steps.     

Deformable Motion: Squeezing into Cluttered Environments

We present an interactive method that allows animated characters to navigate through cluttered environments. Our characters are equipped with a variety of motion skills to clear obstacles, narrow passages, and highly constrained environment features. Our control method incorporates a behavior model into well‐known, standard path planning algorithms. Our behavior model, called deformable motion, consists of a graph of motion capture fragments. The key idea of our approach is to add flexibility on motion fragments such that we can situate them into a cluttered environment via constraint‐based formulation. We demonstrate our deformable motion for realtime interactive navigation and global path planning in highly constrained virtual environments.     

Fast Particle‐based Visual Simulation of Ice Melting

The visual simulation of natural phenomena has been widely studied. Although several methods have been proposed to simulate melting, the flows of meltwater drops on the surfaces of objects are not taken into account. In this paper, we propose a particle‐based method for the simulation of the melting and freezing of ice objects and the interactions between ice and fluids. To simulate the flow of meltwater on ice and the formation of water droplets, a simple interfacial tension is proposed, which can be easily incorporated into common particle‐based simulation methods such as Smoothed Particle Hydrodynamics. The computations of heat transfer, the phase transition between ice and water, the interactions between ice and fluids, and the separation of ice due to melting are further accelerated by implementing our method using CUDA. We demonstrate our simulation and rendering method for depicting melting ice at interactive frame‐rates.     

Gradient‐based Interpolation and Sampling for Real‐time Rendering of Inhomogeneous,Single‐scattering Media

We present a real‐time rendering algorithm for inhomogeneous, single scattering media, where all‐frequency shading effects such as glows, light shafts, and volumetric shadows can all be captured. The algorithm first computes source radiance at a small number of sample points in the medium, then interpolates these values at other points in the volume using a gradient‐based scheme that is efficiently applied by sample splatting. The sample points are dynamically determined based on a recursive sample splitting procedure that adapts the number and locations of sample points for accurate and efficient reproduction of shading variations in the medium. The entire pipeline can be easily implemented on the GPU to achieve real‐time performance for dynamic lighting and scenes. Rendering results of our method are shown to be comparable to those from ray tracing.     

Soft Articulated Characters with Fast Contact Handling

Fast contact handling of soft articulated characters is a computationally challenging problem, in part due to complex interplay between skeletal and surface deformation. We present a fast, novel algorithm based on a layered representation for articulated bodies that enables physically-plausible simulation of animated characters with a high-resolution deformable skin in real time. Our algorithm gracefully captures the dynamic skeleton-skin interplay through a novel formulation of elastic deformation in the pose space of the skinned surface. The algorithm also overcomes the computational challenges by robustly decoupling skeleton and skin computations using careful approximations of Schur complements, and efficiently performing collision queries by exploiting the layered representation. With this approach, we can simultaneously handle large contact areas, produce rich surface deformations, and capture the collision response of a character/s skeleton.     

ProcDef: Local‐to‐global Deformation for Skeleton‐free Character Animation

Animations of characters with flexible bodies such as jellyfish, snails, and, hearts are difficult to design using traditional skeleton‐based approaches. A standard approach is keyframing, but adjusting the shape of the flexible body for each key frame is tedious. In addition, the character cannot dynamically adjust its motion to respond to the environment or user input. This paper introduces a new procedural deformation framework (ProcDef) for designing and driving animations of such flexible objects. Our approach is to synthesize global motions procedurally by integrating local deformations. ProcDef provides an efficient design scheme for local deformation patterns; the user can control the orientation and magnitude of local deformations as well as the propagation of deformation signals by specifying line charts and volumetric fields. We also present a fast and robust deformation algorithm based on shape‐matching dynamics and show some example animations to illustrate the feasibility of our framework.     

Implicit Integration for Particle‐based Simulation of Elasto‐Plastic Solids

We present a novel particle‐based method for stable simulation of elasto‐plastic materials. The main contribution of our method is an implicit numerical integrator, using a physically‐based model, for computing particles that undergo both elastic and plastic deformations. The main advantage of our implicit integrator is that it allows the use of large time steps while still preserving stable and physically plausible simulation results. As a key component of our algorithm, at each time step we compute the particle positions and velocities based on a sparse linear system, which we solve efficiently on the graphics hardware. Compared to existing techniques, our method allows for a much wider range of stiffness and plasticity settings. In addition, our method can significantly reduce the computation cost for certain range of material types. We demonstrate fast and stable simulations for a variety of elasto‐plastic materials, ranging from highly stiffelastic materials to highly plastic ones.     

GPU-based Fast Ray Casting for a Large Number of Metaballs

Metaballs are implicit surfaces widely used to model curved objects, represented by the isosurface of a density field defined by a set of points. Recently, the results of particle‐based simulations have been often visualized using a large number of metaballs, however, such visualizations have high rendering costs. In this paper we propose a fast technique for rendering metaballs on the GPU. Instead of using polygonization, the isosurface is directly evaluated in a per‐pixel manner. For such evaluation, all metaballs contributing to the isosurface need to be extracted along each viewing ray, on the limited memory of GPUs. We handle this by keeping a list of metaballs contributing to the isosurface and efficiently update it. Our method neither requires expensive precomputation nor acceleration data structures often used in existing ray tracing techniques. With several optimizations, we can display a large number of moving metaballs quickly.     

The Virtual Director: a Correlation‐Based Online Viewing of Human Motion

Automatic camera control for scenes depicting human motion is an imperative topic in motion capture base animation, computer games, and other animation based fields. This challenging control problem is complex and combines both geometric constraints, visibility requirements, and aesthetic elements. Therefore, existing optimization‐based approaches for human action overview are often too demanding for online computation. In this paper, we introduce an effective automatic camera control which is extremely efficient and allows online performance. Rather than optimizing a complex quality measurement, at each time it selects one active camera from a multitude of cameras that render the dynamic scene. The selection is based on the correlation between each view stream and the human motion in the scene. Two factors allow for rapid selection among tens of candidate views in real‐time, even for complex multi‐character scenes: the efficient rendering of the multitude of view streams, and optimized calculations of the correlations using modified CCA. In addition to the method's simplicity and speed, it exhibits good agreement with both cinematic idioms and previous human motion camera control work. Our evaluations show that the method is able to cope with the challenges put forth by severe occlusions, multiple characters and complex scenes.