Interactive Solid Animation Using Linearized Displacement Constraints
We present a new approach for interactive solid animation. It allows a user to efficiently trade-off accuracy for speed, making complicated structures tractable in interactive time. Linearized displacement constraints are used in conjunction with an efficient iterative equation solver to perform the assembly of articulated solids. This allows the initialization of a scene and the correction of numerical integration errors. A robust integration scheme limits the instabilities due to approximations. Applications are shown and discussed.
KeywordsIntegration Scheme Inverse Kinematic Geometric Error Constraint Force Kinematic Equation
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