Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Evaluation of real-time physics simulation systems
Proceedings of the 5th international conference on Computer graphics and interactive techniques in Australia and Southeast Asia
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
ACM SIGGRAPH 2010 papers
Generalized biped walking control
ACM SIGGRAPH 2010 papers
Feature-based locomotion controllers
ACM SIGGRAPH 2010 papers
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In the pursuit of pushing active character control into games, we have deployed a generalized physics-based locomotion control scheme to multiple simulation platforms, including ODE, PhysX, Bullet, and Vortex. We first overview the main characteristics of these physics engines. Then we illustrate the major steps of integrating active character controllers with physics SDKs, together with necessary implementation details. We also evaluate and compare the performance of the locomotion control on different simulation platforms. Note that our work only represents an initial attempt at doing such evaluation, and additional refinement of the methodology and results can still be expected. We release our code online to encourage more follow-up works, as well as more interactions between the research community and the game development community.