Controlling dynamic simulation with kinematic constraints
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Dynamic deformation of solid primitives with constraints
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Adapting simulated behaviors for new characters
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Expokit: a software package for computing matrix exponentials
ACM Transactions on Mathematical Software (TOMS)
Physically based motion transformation
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
A modeling system based on dynamic constraints
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Motion interpolation by optimal control
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Dynamic real-time deformations using space & time adaptive sampling
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Composable controllers for physics-based character animation
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
A multiresolution framework for dynamic deformations
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Fast animation and control of nonrigid structures
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
CHARMS: a simple framework for adaptive simulation
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Dynamic Free-Form Deformations for Animation Synthesis
IEEE Transactions on Visualization and Computer Graphics
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Efficient synthesis of physically valid human motion
ACM SIGGRAPH 2003 Papers
Precomputing interactive dynamic deformable scenes
ACM SIGGRAPH 2003 Papers
Motion sketching for control of rigid-body simulations
ACM Transactions on Graphics (TOG)
Motion Perturbation Based on Simple Neuromotor Control Models
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
GI '04 Proceedings of the 2004 Graphics Interface Conference
ACM SIGGRAPH 2004 Papers
Fluid control using the adjoint method
ACM SIGGRAPH 2004 Papers
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Directable photorealistic liquids
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Controllable smoke animation with guiding objects
ACM Transactions on Graphics (TOG)
Adaptation of performed ballistic motion
ACM Transactions on Graphics (TOG)
Automatic determination of facial muscle activations from sparse motion capture marker data
ACM SIGGRAPH 2005 Papers
Dynamic response for motion capture animation
ACM SIGGRAPH 2005 Papers
ACM SIGGRAPH 2005 Papers
Real-Time subspace integration for St. Venant-Kirchhoff deformable models
ACM SIGGRAPH 2005 Papers
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
Physically based rigging for deformable characters
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Applied optimal control for dynamically stable legged locomotion
Applied optimal control for dynamically stable legged locomotion
Model reduction for real-time fluids
ACM SIGGRAPH 2006 Papers
Stable, circulation-preserving, simplicial fluids
ACM Transactions on Graphics (TOG)
Detail-preserving fluid control
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
TRACKS: toward directable thin shells
ACM SIGGRAPH 2007 papers
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Simulating biped behaviors from human motion data
ACM SIGGRAPH 2007 papers
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
An Unconditionally Stable MacCormack Method
Journal of Scientific Computing
Modular bases for fluid dynamics
ACM SIGGRAPH 2009 papers
Deformable object animation using reduced optimal control
ACM SIGGRAPH 2009 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Linear Bellman combination for control of character animation
ACM SIGGRAPH 2009 papers
Interactive synthesis of human-object interaction
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Sampling-based contact-rich motion control
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH Asia 2010 papers
Enhancing fluid animation with adaptive, controllable and intermittent turbulence
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Example-based elastic materials
ACM SIGGRAPH 2011 papers
Physics-inspired upsampling for cloth simulation in games
ACM SIGGRAPH 2011 papers
Interactive surface modeling using modal analysis
ACM Transactions on Graphics (TOG)
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Interactive editing of deformable simulations
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Inverse kinodynamics: editing and constraining kinematic approximations of dynamic motion
Proceedings of Graphics Interface 2012
Efficient simulation of example-based materials
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Efficient simulation of example-based materials
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Non-polynomial Galerkin projection on deforming meshes
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Near-exhaustive precomputation of secondary cloth effects
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
An efficient construction of reduced deformable objects
ACM Transactions on Graphics (TOG)
Simulation and control of skeleton-driven soft body characters
ACM Transactions on Graphics (TOG)
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Recent advances have brought real-time physically based simulation within reach, but simulations are still difficult to control in real time. We present interactive simulations of passive systems such as deformable solids or fluids that are not only fast, but also directable: they follow given input trajectories while simultaneously reacting to user input and other unexpected disturbances. We achieve such directability using a real-time controller that runs in tandem with a real-time physically based simulation. To avoid stiff and over-controlled systems where the natural dynamics are overpowered, the injection of control forces has to be minimized. This search for gentle forces can be made tractable in real-time by linearizing the system dynamics around the input trajectory, and then using a time-varying linear quadratic regulator to build the controller. We show examples of controlled complex deformable solids and fluids, demonstrating that our approach generates a requested fixed outcome for reasonable user inputs, while simultaneously providing runtime motion variety.