Physics Simulation

• Skeleton controlled using inverse kinematics

• PDE for a continuous elastic surface [Terzopoulos 87]

• Skin motion controlled using force-based constraints

  • Reaction constraints
  • Point-to-point “rubber-band” constraints

• Numerical solution

  • Environmental and reaction constraint forces are combined
  • Finite difference discretization of PDEs into system of ODEs
  • Semi-implicit numerical integration method
  • Gauss-Siedel (relaxation) matrix solution

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