Constraint-based Motion Synthesis for
We present a fast goal-directed motion synthesis technique that integrates sample-based planning methods with constraint-based dynamics simulation using a finite element formulation to generate collision-free paths for a deformable model. Our method allows the user to quickly specify various constraints, including a desired trajectory as a sparse sequence of waypoints and it automatically compute a physically plausible path that satisfies geometric and physical constraints. We demonstrate the performance of our algorithm by computing realistic motion for animation of deformable characters and simulation of a medical procedure.
A bear containing 5,252 deformable nodes squeezes through a narrowing, rigid tube. Video
Four fish swim along the ocean floor to form 'CASA'.
Each fish is simulated independently and contains 4,818 nodes. Video
A snake navigates rapidly through a bed of rocks.
The rocks contain 5,302 fixed nodes and the snake is made up of 6,832 deformable nodes. Video
A catheter is inserted into a complex network of arteries.
The catheter is simulated using 3,185 nodes and the arteries are simulated with 8,378. Video
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