A geometric investigation of reach
A geometric investigation of reach
Curves and surfaces for computer aided geometric design
Curves and surfaces for computer aided geometric design
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
A general joint component framework for realistic articulation in human characters
I3D '03 Proceedings of the 2003 symposium on Interactive 3D graphics
A sketching interface for articulated figure animation
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Dynamic Simulation of Articulated Rigid Bodies with Contact and Collision
IEEE Transactions on Visualization and Computer Graphics
A sketching interface for articulated figure animation
ACM SIGGRAPH 2006 Courses
A sketching interface for articulated figure animation
ACM SIGGRAPH 2007 courses
FABRIK: A fast, iterative solver for the Inverse Kinematics problem
Graphical Models
Robotics and Computer-Integrated Manufacturing
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We describe a simple and fast method of creating and using joint sinus reach cones to limit the range of motion on universal and ball-and-socket joints. Reach cones can be created interactively or based on results from biomechanics. A reach cone is specified as a spherical polygon on the surface of a reach sphere that defines all positions the longitudinal segment axis beyond the joint can take. Reach polygons can be concave or convex, and cover more than one hemisphere. Longitudinal axis rotation limits can also be defined for locations in the reach cone. Calculations to determine whether a segment is within the reach cone are based on the relation of the segment longitudinal axis to the planes defining the reach cone and are done in the local coordinate space of the segment. The calculations have no discernible effect on the speed of interactive display or animation.