Department of Computer Science
College of Arts and Sciences
The University of North Carolina at Chapel Hill
COMP290-072: Physically-Based Modeling, Simulation and Animation
COMP 290-072: Physically-Based Modeling, Simulation and Animation
- Time and Place: MW 12:30-1:45pm, SN011
- Office Hours: MW 2:00-3:00pm, SN223
- Prerequisites: COMP205 (Scientific and Geometric
Computing) and COMP235 (Images, Graphics and Vision) OR
Instructor's approval
- Textbook: Course Notes and In-Class Handouts
- TA: Scott
Cooper (SN035, 962-1755, scooper@cs.unc.edu;
Office Hours: TBA)
CHECK OUT THESE VIDEO CLIPS !!!
COURSE OVERVIEW:
Physically-based modeling and simulation attempts to map a natural
phenomena to a computer simulation program. There are two basic processes
in this mapping: mathematical modeling and
numerical solution. The goal of
this course is to understand both of them. The mathematical modeling
concerns the description of natural phenomena by
mathematical equations. Differential equations that govern dynamics
and geometric representation of objects are typical
ingredients of the mathematical model.
The numerical solution involves computing an efficient and accurate
solution of the mathematical equations. Finite precision of numbers,
limited computational power and memory forces us to approximate the
mathematical model with simple procedures.
In this course, we will study various techniques to simulate the physical
and mechanical behavior of objects in a graphical simulation or a virtual
environment. Students will learn about implementation of basic simulation
programs that produce interesting results and verify its correctness. The
course will cover three basic components in physically-based modeling and
simulation:
The goal of this class is to get students an appreciation of
computational methods for modeling of motions in the physical and
virtual world. We will discuss various considerations and tradeoffs
used in designing simulation methodologies (e.g. time, space, robustness,
and generality). This will include data structures, algorithms,
computational methods and simulation techniques, their complexity
and implementation. The lectures will also cover some applications of
physically-based modeling and simulation to the following areas:
Computer Animation
Virtual Environments
Rapid Prototyping
Haptic Rendering
Computer Game Dynamics
Robotics and Automation
Medical Simulation and Analysis
Depending on the interests of the students, we may also cover
geometric-based simulation techniques, such as constraint-based
systems, inverse dynamics, kinematics of motions, motion
planning, synethesis and generation of autonomous agents.
LECTURES AND APPROXIMATE SCHEDULE
Here is a list of TENTATIVE lecture topics (subject to
changes). Schedule and information on each topic (e.g. readings, web
pointers) will be added during the semester before each class.
Overview (Wed, Jan 12, 2000)
MLK, NO CLASS (Mon, Jan 17, 2000)
Basics of Motion Generations for Animation (Wed, Jan 19, 2000)
Basics of Motion Planning
(Mon, Jan 24, 2000)
NO CLASS DUE TO SNOW STORM (Wed, Jan 26, 2000)
Motion Planning for Animation & VR
(Mon, Jan 31, 2000)
ODE Basics: Initial Value Problem (Wed, Feb 2, 2000)
Particle Dynamics (Mon, Feb 7, 2000)
Particle Systems (Wed, Feb 9, 2000)
Constrained Dynamics (I) (Mon, Feb 14, 2000)
Constrained Dynamics (II) (Wed, Feb 16, 2000)
Special Topic: Inverse
Kinematics (Mon, Feb 21, 2000)
Collision Detection: LP & 2D Techniques
(Wed, Feb 23, 2000)
Special Topic: Randomized Motion Planning (Fri, Feb 25, 2000)
Collision Detection: GJK and
Voronoi Walking (Mon, Feb 28, 2000)
Collision Detection: BVH's & Spatial Partitioning (Wed, Mar 1, 2000)
Proximity Queries for Large, Dynamic Environments (Mon, Mar 6, 2000)
Project Proposal (Wed, Mar 8, 2000)
SPRING BREAK (Mar 10-19, 2000)
Basics of Rigid Body Dynamics
(Mon, Mar 20, 2000)
Rigid Body Dynamics: Impulse-Based Simulation (Wed, Mar 22, 2000)
Rigid Body Dynamics: Constrained-Based Simulation &
Friction
(Mon, Mar 27, 2000)
Dynamics of Juggling (Wed, Mar 29, 2000)
3-DoF Haptic Rendering (Mon, Apr 3, 2000)
6-DoF Haptic Rendering (Wed, Apr 5, 2000)
Applications of Particle Systems and
Cloth Simulation (Mon, Apr 10, 2000)
Project Update (Wed, Apr 12, 2000)
Intro to Non-Rigid Body Dynamics (Mon, Apr 17, 2000)
Simulating Deformation Using FEM (Wed, Apr 19, 2000)
Anatomy-Based Modeling and Animation (Mon, Apr 24, 2000)
Hardware Accelerated Computation (Wed, Apr 26, 2000)
Timewarp Rigid Body Dynamics (Mon, May 1, 2000)
AI for Games (Wed, May 3, 2000)
COURSE READING MATERIALS
Reference Papers Used in Lectures:
SIGGRAPH Course Notes on Physically-Based Modeling
Reading List for the Class
(updated throughout the semester)
ASSIGNMENTS AND PROJECTS
The class grade of each student is determined by
Homework (30%)
Class Presentation (20%)
Final Project (50%)
POINTERS TO WEBSITES ON PHYSICALLY-BASED MODELING & ANIMATION:
RESEARCH GROUPS:
UNC Research Group
on Modeling, Physically-Based Simulation and Applications
UNC Interactive
Collision Detection Libraries
Simlab:
Computer Tools for Analysis and Simulation (Cornell)
iMAGIS
(GRAVIR / IMAG research lab / INRIA)
Center for Human Modeling and
Simulation(UPENN)
MIRALab (University of Geneva)
I.W. Hunter's Biorobotics, Newman
Laboratory (MIT)
Iowa Driving Simulator
University
of Aukland, Bioengineering Research Group
Bio-Engineering Animations
RESEARCHERS:
Norman Badler
David Baraff (now at Pixar)
David Breen
Chris Bregler
Jessica Hodgins
Michael Gleicher
Dimitris Metaxas
Brian
Mirtich (now at MERL)
Richard Parent
Daniel Thalmann
Nadia Magnenat-Thalmann
Demetri Terzopoulos
Andy
Witkin's Gallery (now at Pixar)
INDUSTRY
Boston Dynamics Inc.
Engineering Animation Inc.
Chris Hecker's Corner (Definition Six, Inc.)
HT Medical (Surgical Simulation)
Ipion Virtual Physics
Kinetix 3D Studio
MAYA (Alias|Wavefront)
Mathengine
Mechanical Dynamics Inc.
Motion Factory
MSC.Working Knowledge
SensAble Technology
Symbolic Dynamics
Telekinesys
GEOMETRIC ALGORITHMS AND SOFTWARES AVAILABLE ON THE WEB:
Here are just some possible locations to find geometric software/libraries
and algorithmic toolkits you may need:
Internet
Finite Element Resources
A comprehensive
collection of geometric software
CGAL: Computational
Geometry Algorithms Library (in C++)
LEDA:
Library of Efficient Datatypes and Algorithms (in C++)
The Stony
Brook Algorithm Repository: Implementation in C, C++, Pascal and Fortran
CMU's Computer Vision Homepage
Finite element
mesh generation and
More
Machine learning resources
ADDITIONAL REFERENCE MATERIALS
Other Reference Books in Computer Animation:
Making Them Move: Mechanics, Control and Animation of Articulated
Figures, by Badler, Barsky and Zelter, Morgan Kaufmann Publishers, 1991.
Advanced Animation and Rendering Techniques: Theory and Practice,
by A. Watt and M. Watt, 1992.
Computer Animation: Algorithms and Techniques, by Rick Parent, 1999.
Other Reference Books in Mechanics:
Concepts and Applications of Finite Element Analysis,
by R. D. Cook, D. S. Malkus and M. E. Plesha, John Wiley & Sons, 1989.
Finite Element Procedures, by K.-J. Bathe, Prentice Hall, 1996.
First Course in Continuum Mechanics, by Y.C. Fung,
Prentice Hall, 1993.
Other Reference Books in Numerical Methods:
Numerical Recipes: The Art of Scientific Computing,
by Press, Flanner, Teukolsky and Vetterling, Cambridge University Press, 1986.
Handbook
of Numerical Analysis, edited by Ciarlet and Lions, Vol. I - VI,
North-Holland, 1994.
Other Reference Books in Robotics:
Robot Motion Planning, by Latombe,
Kluwer Academic Publishers, 1991.
Robot Manipulators: Mathematics, Programming, and Control,
by R. P. Paul, MIT Press, 1981.
Other Reference Books in Geometry:
Computational Geometry (Algorithms and Applications), by de Berg,
van Kreveld, Overmars and Schwarzkofp, Springer-Verlag, 1997.
Computational Geometry In C (Second Edition), by
O'Rourke, Cambridge University Press, 1998.
Handbook on Discrete and Computational Geometry, by Goodman and
O'Rourke (eds), CRC Press LLC, 1997.
Applied Computational Geometry: Toward Geometric Engineering,
by Lin and Manocha (eds), Springer-Verlag, 1996.
Algorithms in Combinatorial Geometry, by Edelsbrunner,
Springer-Verlag, 1987.
Computational Geometry (An Introduction), by Preparata and Shamos,
Springer-Verlag, 1985.
For more information, contact
Ming C. Lin,
lin@cs.unc.edu.
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