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Proceedings of the 28th annual conference on Computer graphics and interactive techniques
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SIGGRAPH '05 ACM SIGGRAPH 2005 Sketches
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SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Proceedings of the 2007 ACM SIGGRAPH symposium on Video games
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Rigid Body Dynamics Algorithms
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EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Misconceptions of PD control in animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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Pose control for physically simulated characters has typically been based on proportional-derivative (PD) controllers. In this paper, we introduce a novel, analytical solution to the 2nd-order ordinary differential equation governing PD control. The analytic solution is tailored to the needs of pose control for animation, and provides significant improvement in the precision of control, particularly for simulated characters in dynamic conditions.