Lagrangian Aspects of the Kirchhoff Elastic Rod
SIAM Review
Robot Dynamics Algorithm
Continuous deformation energy for dynamic material splines subject to finite displacements
Proceedings of the Eurographic workshop on Computer animation and simulation
Super-helices for predicting the dynamics of natural hair
ACM SIGGRAPH 2006 Papers
Journal of Visual Communication and Image Representation
A Survey on Hair Modeling: Styling, Simulation, and Rendering
IEEE Transactions on Visualization and Computer Graphics
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
Geometrically exact dynamic splines
Computer-Aided Design
Spline joints for multibody dynamics
ACM SIGGRAPH 2008 papers
ACM SIGGRAPH 2008 papers
A mass spring model for hair simulation
ACM SIGGRAPH 2008 papers
Simulating knitted cloth at the yarn level
ACM SIGGRAPH 2008 papers
Animating strings with twisting, tearing and flicking effects
Computer Animation and Virtual Worlds
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Physics-based animation has become a standard feature in modern games. Typically, the bones in a character's animation rig are each associated with a simulated rigid body, leading to a jointed assembly commonly called a ragdoll. The high density of animation bones in the spine area can cause instability and performance issues, so we are motivated to find a simplified physical representation for this region. We approximate the spine region of a ragdoll as an inextensible elastic curve, building a circular arc constraint based on the Kirchhoff rod model. Our simplified spine shows improved performance and stability over the standard group of socket joints, and proves to be more controllable. To model general elastic rods we use soft position constraints in place of forces, leading to a stable maximal coordinate formulation of inextensible Kirchhoff rods.